Tune to ILS and fly down the pipe
BUT Now on a serious note!
It will come when you get used to seeing the picture.
In regards to PAPIs not working for light aircraft I have never heard that before. If that is the case they would not work for the great cross section of airliners ie A380 v SAAB 340.
Also why should light aircraft make a steeper approach? It is all a distance to threshold against altitude. If you are making a steeper approach then you are making more work in the hold off and will be high on the start of final.
I have found there seems to be no right or wrong way to land. each person has a slioghtly different take that works for them.
Remember they are only "accurate" to approx 300' AAL!