"Vacuum" is a routine process that reclaims storage occupied by dead rows and ensures that the space can be reused and it doesn't apply locks on tables which means it's a lightweight operation if you compare it to "Full Vacuum".
On the other hand, "Full Vacuum" is a more intensive operation that reclaims all storage occupied by dead rows, including the space at the end of the table. It will lock the tables of course and that is why it's expensive on the resource-level. As for "Auto Vacuum" you need to know that it is enabled by default and you will not be able to schedule it manually. However, you can control the parameters that triggers like "autovacuum_vacuum_scale_factor" and "autovacuum_analyze_scale_factor" parameters.
Also you can manually trigger an ANALYZE operation on a table to update statistics because updating statistics can influence the auto-vacuum process.