Put your angle finder right on the tailshaft. Get your reading, say it's 3* down. Have your car loaded like you plan to drive it, drivers weight in seat and use a socket that is constant diameter and that fit into the yoke. Get the yoke point vertical, set socket in yoke and the angle finder. For a 0 pinion angle in this case you want the yoke pointing 3* UP. From there you can roll it down to get your desired setting.
If you put the yoke at 0, you'd have a -3* pinion angle.
The idea is to get the u-joint to run in a parallel plane under power. When the car is under power the pinion tries to rise, thus the pointing it down slightly.