Chalk test is king. Easiest way to ensure you've got the right pressure.
To get a decent starting point for PSI:
1. Find the gross vehicle weight per corner: GAWR / 2 = Weight Per Corner
2. Find the max weight rating of your current tires: this is written on the side wall.
3. Find the ratio of weight per corner to max weight rating of your tires: Weight Per Corner / Max Weight Rating = Ratio. This number should be a decimal that is less than 1.0.
4. Multiply the tire's max PSI @ max weight (found on sidewall) by the ratio from step 3: Ratio * Max PSI = PSI. This is the PSI you should start with.
An example using completely made up numbers:
GAWR (Gross Axle Weight Rating) = 5,000 lbs
GAWR / 2 = 2,500 lbs
Tire max PSI and weight: 4,269 lbs @ 69 PSI
Gross corner weight / Tire max weight = ratio: 2,500 / 4,269 = 0.59
Ratio * Tire max PSI = PSI: 0.59 * 69 = 41 PSI
In this made up hypothetical example case, you can start with 41 PSI and add or remove pressure to get the ride and tire wear you want. Note that our trucks and most others will have a different GAWR for the front and rear.