Hi Eric:
Pruning is implemented for a variety of reasons, the most common of which is removal of low(er) branches to provide more horizontal space or to encourage more sunlight penetration to the ground/turf (lifting); creating crown/branch symmetry (shaping); removal of diseased or infested branches for tree health reasons; removal of deadwood for liability and aesthetics; and removal of high-probably failure or weak branch unions (poor crotch angles); and finally clearance pruning for utility operations and maintenance.
A general rule with pruning is not to remove more than 20% of the tree’s live limbs during any single pruning operation (annually) and to maintain at least 50% live canopy on your shade trees.
Excellent Pruning Resource: https://extension.purdue.edu/extmedia/fnr/fnr-506-w.pdf