Salaam

It was reported that Sufyaan ibn Uyaynah said “Rather it is Sunnah, but only for those who know how to do it and do it at the appropriate time.”

Was this meant as a ruling or a guideline? If a person isnt completely sure about when and how to joke (a lot of people are prone to make mistakes) would Joking be completely forbidden for them?

Jazzakallahu Khair