Core pears from bottom, leaving stems intact. Peel pears. Cut 1/4 in. from bottom to level if necessary. In a large saucepan, combine the next five ingredients. Squeeze juice from lemon; add juice and lemon to pan. Bring to a boil. Reduce heat. Add pears; poach, uncovered, for 15-20 minutes or until tender. Remove from the heat; cool pears in liquid.
In a microwave-safe bowl, combine caramel dip and ground cloves. Microwave, uncovered, on high for 10 seconds; stir. Cook 10 seconds longer or until heated through. To serve, drain pears and pat dry; drizzle with caramel sauce.