I don't think there's any rule of thumb related to queenside pawn pushing in positions where both players have castled kingside.
The general flow of a game goes something like this (sometimes you can skip numbers, this is just a rough sketch):
1) Increase piece mobility (move off the back rank and centralize / on open lines)
2) Play a pawn break / exchange pawns to open lines (lines are rank, file, diagonals)
3) Infiltrate onto the opponent's side of the board
4) Come into contact with weak pawns / squares near the opponent's king
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Ok, with that in mind, we can see a game of chess is really all about piece activity (pieces are non-pawns). You take your pieces through increasing levels of activity until you win material or checkmate your opponent.
First let's look at when to choose the queenside.
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In the above diagram white's main pawn chain "points" to the queenside. This gives white more space (and black less space) on that side, and so it's natural to seek play on the side of the board where your central pawn chain "points"
This is also the so called "orthodox" or "carlsbad" structure. White typically pushes the queenside pawns forwards to exchange them off, which will leave black with an isolated or backward pawn that white's pieces can gang up on.
Notice how this fits in with the rough outline I gave at the beginning. White is exchanging pawns to open lines and eventually hopes to bring his pieces into contact with weak enemy pawns.
Here's a different kind of example.
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This is a bit of an anti-example to reinforce the idea that pushing pawns should play the role of increasing piece activity. Black's move b5 wasn't bad, but black doesn't have many pieces on the queenside, so b5 was not played with the intention of the pawn break b4 soon after. With few pieces to make use of the open lines, a queenside pawn break doesn't serve much purpose at the moment. The black queen came to b6 to touch the weak e3 pawn, so that's nice. Meanwhile the b5 pawn keeps a white piece off of c4, so that's nice... but mostly what black is dreaming of is the d5 pawn break. A lot of white pieces are pointed at the black kingside giving white pressure there, and the classic response to a flank attack is to open the center.
So I'm often faced with this situation. I'm white, I've castled kingside. So has my opponent. All our pieces are out. Center is occupied.
At this point I'm always uncertain about pushing my queenside pawns. I don't know when I should, when I shouldn't.
Same type of thing with castling queenside and pushing the kingside pawns. Is it just generally a good thing to push these pawns as long as they aren't left hanging? I don't know how to decide.