I have actually had 4 foot surgeries, 2 of them, all or in part were to remove bone spurs. The first heel spur surgery had to be done because it had broken and if it would have displaced things would have been much worse. The second spur (on my other foot) was taken out since I was having tarsel tunnel and plantar facia surgery any way.
Without going the surgical route, some type of orthotic possibly prescription, might help. I don't know if there is a way for total relief without having surgery. Beware though, they grow back. My first one has already started.