This is a fine conversation. Gesture is the expression of the pose. The gesture lives with the model and the artist follows along in a kind of dance (rhythm again). The less intellectualizing between seeing the model set the pose and the direct drawing response, the more efficiently the artist will be able to see/feel/draw the pose.
I often suggest students use big fat soft drawing tools to respond to the gesture poses because with soft graphite, charcoal, and pastels the artist can get line and value in one stroke by pushing and pulling into to depth and surface of the pose.
Wet medium gesture techniques are also very efficient, for example with a Japanese calligraphy brush.
Personally I love to fingerpaint gestures with a gooey glob of acrylic paint or gouache.
Save your pessimism for the good times