When I grow them from seed, some trees take more of the Chinese form and branch early and others seem to take more of the American form and grow taller before branching. I need to tube my trees, so early branching is problematic for me. Anything that is 30% or more in diameter of the central leader will drain resources. So, I typically prune them when young to attempt to force a central leader at least until they get above tube height. For this purpose, I'll prune them when actively growing in containers. Once my trees get above the 5' tubes, they can branch all they want.
For trees growing in the field, Lee has it right. Dormant pruning is best. Your tree will respond best if you don't remove more than 30% of the leaf mass. (I realize there are no leaves when dormant pruning, but you can estimate).
Thanks,
Jack