Which lens filter you need when making prints in the darkroom comes with practice, but as you say, yes, choosing a lower number of filter for a darker negative is generally the way to go. The opposite also applies, in that a very thin negative, generally requires a more contrasty filter, like number 4 or 5.
The way to find the correct exposure for any negative,but especially when starting out, is to do a test strip of various exposures.
One of the main things to remember, is even if your prints or test-strips come out as 'solid black' or with 'only faint bits', ALWAYS leave the test-strip or print in the developer for the WHOLE time given on the bottle, which is generally 1 minute for RC papers and longer for FB. Following this you get consistency and you can then increase or decrease the exposure time or open up or close down the lens aperture a stop or so.
If you are continually getting VERY dark negatives, it may be you are over-exposing or over-developing the film, and on the other side, if your negatives are too light and thin, then you are under-exposing or under-developing them.
Take it slowly and you will soon be producing prints that you are happy with.
Terry S