How do you squeeze a lemon efficiently?

I'm curious, what are the key steps to efficiently squeezing a lemon? Do you start by rolling it on the counter first? Or is it more about the type of juicer you use? Are there any tips or tricks to getting the most juice out of each lemon, without wasting any of its precious goodness? I'm eager to learn the most efficient method for squeezing lemons, so I can enjoy the full flavor in all my lemon-based dishes and drinks.