Mostly, you don't. If you cant stand the occasional wild shoot poking above the canopy, just prune it back to its origin, or to a side branch at least 1/3 the diameter of the one you cut. Light pruning like this is best done in early spring, at least 3 weeks before bloom. If it is an older tree that needs rejuvenated, prune it back to thumb thick to broomstick thick branches, and simplify the branch structure, in mid spring. That will sacrifice bloom and fruit for the next 2-3 years. Suckers and deadwood can be removed anytime.