I've never done this with citrus, but it works on most woody plants.
Cutting off the dominant apical bud does indeed work. But another way I prefer is to make a cut above the bud you want to become a branch. This cuts off the IAA, etc. from the apical bud and the lateral bud below the notch starts to grow.
I learned this from North Merica Fruit Explorers. It is too slow for commercial orchards, but hobbiest with few trees find it gives more control of branch spacing.
When I used this method, not on citrus, I found it was enough to just push a razor blade into the tree past the cambium, and pull the razor blade back out. It left no scar, good for bonsai, and it was effective.
This method works on any branch or trunk that is immature enough you can still see buds. I find that with my shaky hands, I can't use this method on really small new growth because I end up slicing off the twig. In my younger days I was able to do it on really tiny twigs. When I was doing bonsai, I could get every bud to branch. It left me with lots of options.
Note: Millet's metod has worked on citrus and all kinds of trees for centuries. I don't know if my method works on citrus, but I'd bet it does.