Something I learned about trees grown from cuttings. If your cutting was from a terminal upward branch the tree will grow up, if it came from a lateral branch it will grow sideways.
If you have one that is growing up, it is easier to get it to branch. Just top it above a leaf node. The citrus trees here at least are putting out new leaves and flowering so it is a good time to do the pruning.
If you had a lateral branch it would be a lot harder to get it to grow up.
Happy gardening in Hawaii. Gardens are where people grow.