Yes, No, Maybe.
1st consideration: do you want a single trunk, or multiple trunks? If you want a single trunk, you obviously need to prune off 2. If multiple trunks, you are fine.
2nd consideration: do you want a tree or a bush? If a bush, I would prune is next spring, just before it breaks dormancy, to 12-18" tall (what I do). If you want a tree, you might want to go with a single trunk (see above), of let the multiple trunks grow to the height where you want the branches to form.
3rd consideration: if you want to grow it espalier, you probably want to prune it to 2 trunks, and begin training them horizontally.
4th consideration: You may want to encourage earlier fruiting on a little older tree, in which case you would consider "pinching" (search for many post on the subject). Pinching is a form of pruning, that is done at a specific time in a specific way for a particular goal.
5th consideration: on an older tree, you might want to thin interior branches to increase light and ventilation to the canopy of the tree.
6th consideration: If you need cuttings for propagation, in warmer climates you would take them when dormant, maybe as late as January or February. In colder climates where freezing and damage to the branches is a consideration, you might take the cuttings in the Fall before they can be damaged.
Etc.
Pruning is not just one thing. It is done at different times and in different ways to achieve different goals or purposes. After you determine what you want you tree to do, then you will have more clarity on when and how to prune it. I know this goes beyond the scope of your small tree, but thought the bigger picture would be helpful to you (later) and others, maybe now.