SU-8 pillar-assisted epitaxial assembly of toric focal conic domains (TFCDs) arrays of smectic-A liquid crystals is studied. The 3D nature of the pillar array is crucial to confine and direct the formation of TFCDs on the top of each pillar and between neighboring pillars, leading to highly ordered square and hexagonal array TFCDs. Excellent agreement between the experimentally obtained critical pillar diameter and elasticity calculation is found.