It depends!
@Shibui gave you good advice, but one thing he failed to mention: Japanese maples are different than Trident maples.
Japanese maples should be pinched as soon as possible when the new shoots emerge. They will form very short internodes, then new shoots will develop in a couple weeks that should be pinched again. This is for “normal” Japanese maples. Some “fancy” J. maples are not as vigorous, and should not be pinched. But typical J. Maple seedlings can be.
Trident Maples are different. They should be allowed to grow out to 6 or 8 pairs of leaves, then cut back to one or two pairs. Those first couple internodes are short. They typically only start to get long after they have made 4 or 5 pairs of leaves.
Why shouldn’t you pinch Trudents like Japanese Maples? If you do, they will bud back, but that node will start to become knobby. You get an unsightly bulge. You don’t want that. You want nice evenly tapering branches, not knobby branches. So, let Tridents grow out, then cut back.