At any given moment in your application, you should fetch the data you need to use in the application and thus also get rid of the data you don't need anymore. If your application needs to process 10 entities related to customer, it's thus necessary to fetch those 10 entities when you're going to process them, not 15 or 1000, but the 10 you need.
Prefetch paths make fetching related entities more efficient as you can have 1 query per graph node so 10 customers which each 10 orders will still give 2 queries, not 11. The prefetch paths offer you to specify additional filters, so you can prefetch just 2 related orders per customer for example, or just the orders matching a filter.
So it's hard to say "do this and you're set", it really depends on the situation at hand: at one time you'll need all the data up front, at another time you just need one entity at a time, and fetch a new one when you're done.