Delete deprecated API versions

pkg/service:

There were a couple of references here just as a reminder to change the
behavior of findPort. As of v1beta3, TargetPort was always defaulted, so
we could remove findDefaultPort and related tests.

pkg/apiserver:

The tests were using versioned API codecs for some of their encoding
tests. Necessary API types had to be written and registered with the
fake versioned codecs.

pkg/kubectl:

Some tests were converted to current versions where it made sense.

hack/test-cmd.sh

@@ -114,8 +114,6 @@ PATH="${KUBE_OUTPUT_HOSTBIN}":$PATH
 
 kube_api_versions=(
   ""
-  v1beta1
-  v1beta2
   v1beta3
 )
 for version in "${kube_api_versions[@]}"; do