Usually with mangoes, tipping of all branches is done to get more branches to have more chances for fruit. In my opinion, the side branches haven't grown out enough to tip, so I would simply use clippers and snip only the very top (terminal bud) inch. That will encourage lateral branching. However, the tree's shape is largely dependent upon its genetics. Sure, you can shape the tree, but if it grows kinda leggy and upright, there's not much you can do to change this without tying limbs down with weights or tying them to a trellis. For example, my LZ grows upright. I can tip the branches but the new growth still grows straight upward. There can be a happy medium between what you want as the pruner and what the tree will allow based on its growth habit, but that tree looks great to me. It has lateral branches and just needs topping.
Disclaimer: I have only been doing this thing for 1 year, so take this with a grain of salt.