In the long run, careful and thoughtful pruning allows the tree to focus its
energy on the branches you want to ultimately keep. If you leave a branch to grow an extra year or two, and then prune it off, that is a lot of wasted energy that the tree could have used toward growth on branches that you want to keep. So small cuts when a tree is small are a lot more energy efficient than waiting too long.
Prune in the winter, when the tree is dormant and the energy (sugars) are stored down in the roots. If you're only going to visit your trees once a year, plan to do so in Jnuary and bring along a sharp set of loppers. It might seem counterintuitive to cut off half the branches, as those branches are covered with little
solar panels (leaves) and that's your source of energy. Yes, and no. Lots of small leaves crowded on the inside of the tree aren't really capturing much sunlight anyway. By opening the tree up, more sunlight is able to reach the inside of the tree and the leaves on the lower half.
How open should a pruned tree be? Big enough that you can throw a baseball through, but not so big that you could throw a cat through. I forget where I once heard that, but it stuck with me all these years.
As Redhawk stated above, years one and two, you really don't want to do too much. But by year three, you want to select the long-term scaffolding branches that will give shape to the tree for the rest of its life. You can leave a central leader growing straight up the middle of the tree, or you can prune a wine glass with an open center. I used to prune my trees to have a single center but in the past 10 years, I've changed things up because I realized that I couldn't reach that fruit anyway and it was much easier to manage a shorter, wider tree.
If your goal is larger fruit, then you'll need to take out a lot of the smaller branches and biomass, and thin the fruit ruthlessly once you have fruit set. If you have a lot of smaller branches and a bushy tree, you'll get lots and lots of small apples/peaches/mangos/apricots/whatever. On my pomegranate tree, I thin 90% of the fruit off of it, and still have 50 or more big pomegranates in the fall. I'd rather have 25 good sized peaches than 100 dumb little things that you can't hardly peal.
When in doubt, cut it out! Best of luck.