My personal opinion you have two good options: 1) Weigh each corner fully loaded for a trip and inflate accordingly per the tire manufacturer's inflation tables (personally I add 5psi as was previously mentioned.) 2) Inflate to max, which is 80 psi for 16" LRE tires.
I use option 1 which lined up with the "yellow tag," then added 5 psi for my own neurosis. I use option 2 when I am towing with no ill effects. When in doubt, always go with the higher pressure. For LRE tires you can't go wrong with 80 psi all around (ride/handling may be affected, but load safety will not.) Again my opinion