Reply to ICMP ping. Configuration Question

I read an article (link below) about the pros and cons of enabling and disabling the reply to ICMP ping feature. At the end of the article is states:

Better Ways to Prevent ICMP Abuse
Disabling the full ICMP protocol may not be a good approach in securing network devices. Instead disabling a subset of ICMP types provide fine-grained control over which types of ICMP messages network devices could request, receive, and respond to. –

Reference: ICMP: The Good, the Bad, and the Ugly | by Drew Branch | Independent Security Evaluators

How do I do this?
I have already set my inbound firewall rules to deny. Is this what he is talking about in the article or is there more to it?