That does seem to be the recommended method. In my experience, a “defoliation” is the process of removing a lot of leaves all at once. Which is something I practice, with purpose – at specific intervals (like doc said)
However, i regularly pluck a few leaves here and there when necessary. There’s many reasons for doing it, maybe some leaves are drying out, too big and not photosynthesizing enough, blocking light to lower bud sites etc. Ultimately i think it’s fine, it’s what happens in nature when an animal eats a few leaves