Obviously, the most aerodynamically efficient position may not be the most pleasant position to be in for several hours on a cross country tour. So there's a tradeoff. As you move to a more horizontal position, the saddle needs to be positioned further to the rear to maintain your body's balance, just as your rear end moves to the rear as you bend over while standing. It so happens that racers are more inclined to use a horizontal torso position than tourers, and racers are more concerned with having the handlebars further forward to make climbing and sprinting out of the saddle more effective.
If a bicycle had the saddle directly over the cranks, you wouldn't be able to lean your body forward without supporting the weight of your torso with your arms. Because the saddle on a typical bicycle is behind the cranks, your seat is positioned behind your feet and your body can be in balance. Try this test. You'll need a friend to hold the bike up, or set it on a wind trainer. Sit on your bike with your hands on the handlebars and the crank arms horizontal. If you have a drop bar, hold the bar out on the brake hoods. Try taking your hands off the bar without moving your torso. If it's a strain to hold your torso in that same position, that's an indication of the work your arms are doing to hold you up.
For starters, I like to put the saddle in the forward most position that allows the rider to lift his hands off of the handlebar and maintain the torso position without strain. You should not feel like you're about to fall forward when you lift off the handlebar. If it makes no difference to your back muscles whether you have your hands on the bars or not, you know that you aren't using your arms to support your upper body. If you are, your arms and shoulders will surely get tired on a long ride. But this is a starting position. Remember that bicycle fit is a series of compromises.
So what's being compromised? Power. There's a limit to how far you can comfortably reach to the handlebar while seated. If the saddle is well back for balance, the handlebars will need to be back as well. But to get power to the pedals while out of the saddle, it helps to have the handlebars well forward of the cranks. Particularly when climbing out of the saddle, the best position tends to be had with a long forward reach to the bars. You can tell this is so by climbing a hill out of the saddle with your hands as far forward on the brake lever tops as you can hold them, then climbing the same hill with your hands as far to the rear as you can on the bars. Chances are you can climb faster with your hands further forward. So you need to find the best compromise between a comfortable seated position and reach to the handlebar, and a forward handlebar position for those times when you need to stand. Only an inch or two in handlebar placement fore-aft can make a big difference while climbing. That same inch or two in saddle position can mean the difference between a comfortable 50 mile ride and a stiff neck and sore shoulders!
As you move the saddle forward from that balanced position, you'll have more and more weight supported by your arms, but you'll be able to position the handlebars further forward for more power. The track sprinter has the frame built with a rather steep seat tube angle, which positions the saddle further forward from where the tourer would want it. But again, the track sprinter spends very little time in the saddle.