Most tire manufacturers have websites with a chart for each tire model that shows the recommended pressure for the load.
The rule of thumb is to use the pressure shown on the sidewall of each tire. The plate on the door only applies to the standard tires put on vehicles when built. The plate is not updated if an optional tire setup is ordered or aftermarket tires are added. For example a Chevy 2500 truck at work shows 32 PSI on the door panel. The sidewall of the load range E tires on the truck show 80 PSI if we ran them at 32PSI the tires would fail due to heat.
Use the pressure on the manufacturers chart or the sidewall. I always keep my tires on every vehicle at the maximum pressure shown on the sidewall. It doesn't matter if the vehicle is carrying a load or not I still use the max sidewall pressure. I don't have to spend time adjusting the pressure when loaded or not loaded.