Yes, pruning promotes plant growth

First get a good set of pruners, I like Corona, I still use a 20 year old pruner I bought in high school

First off get rid of any suckering (shoots near the crown of the root ball)

In the canopy I always start with dead branches or branches that produce relatively few leaves and flowers.

Then I take care of branches that rub other branches which can introduce disease and attract pests.

Then I move onto skyrockets- long straight branches that are not in character with the habit of the tree.

From there you may want to even out sides for balance and habit but those are the basics.