Weigh fully loaded, with full fuel, LPG, fresh water (empty black/grey).
As others have said, 4-corner weighing is the best (although both ends of the axle should be set at the same pressure; use the higher of the 2). If you can't do 4 corners, then weigh each axle, and use 55% of that number (to account for variation in side-to-side weight; mine is actually about 54%/46% biased to the driver side). Find the tire manufacturer load chart and use it based on your actual weights. Some suggest to add 5-10%, but IMO that would really depend on where your weights fall in the chart; if your weight is close to the top of one of the sections, then bump up. If it is just barely into that section, then stay where the chart says since you already have some buffer. Hope that's clear.
If you haven't weighed your rig, then you can use the tag on the driver's side interior wall or door. That will give the pressures required for YOUR rig at YOUR max GVWR. Never use the number on the tire sidewall, as tires can be used on many different vehicles of different weights.