We don't practice how to perform a counter move from a defensive stance, because that rarely works against an active and determined attacker, especially when that attacker has some basic knowledge and does not go in deep in the first instance.
Counter techniques could work, but they only work in a specific context. If the context changes, say, the opponent moves farther or closer or does something else, for example, a feign, then you won't be able to perform a counter technique anymore.
That's why we almost always practice from the offensive position, as this allows us to gauge distance and feel how the opponent would react. Then, when you are on the defensive stance, you simply do the same thing. The only difference being, when you are on the defensive stance, it is the opponent coming towards you and you have to react to what they give you, thereby, reducing your options, while at the same time you enjoy the spatial advantage because they have to come to you.
The goal of a fight isn't to hit the opponent or to use this or that technique but to gain control. The control of the tempo, the space, and the opponent's body allows you to win the fight. Beating or takedown or whatever technique is just a way to fight for that control.
As such, there is no big difference between offence and defence; they are essentially the same thing on different points in time and space.
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