How to query_post custom posts within default taxonomy?

Use WP_Query instead of query_posts().

$cpt_args = array(
    'post_type' => 'product',
    'tax_query' => array(
        array(
            'taxonomy' => 'category',
            'field' => 'slug',
            'terms' => 'furniture'
        )
    )
);
$cpt_query = new WP_Query( $cpt_args );