You shouldn't need to use Bonjour (Apple service for use with iTunes & iPhones/iPods) to locate a printer. Ideally, your Epson printer should be connected directly to the router (either through WiFi or a direct Ethernet cable), so that any device connecting to the same router can simply locate it as a network printer. The driver/install disk that came with the Epson printer should have allowed you to do that.
It's also possible that, as with other printer manufacturers (HP, Lexmark, etc.), Epson requires a utility program to be running in order to print. Note that this is separate from the actual drivers used to connect to the printer, & would only have been available from Epson, not Bonjour.
Remove the printer from your laptop, remove the drivers, then use the Epson disk to install it from scratch.