Generally there is not specific way to prune a mulberry tree. It is growing vigorously but will settle down a little as it gets older. Reaching the fruit on a mulberry is not really something that you can do as they get older unless you have a ladder.
The small saplings can be dug and potted or replanted if you can get some roots. I would wait until November when the leaves are falling off to do that. It will be much less stressful to the trees.
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