Never, never, never let your printer control the image. Always use color management by the software, eg CS5, etc. Now if you want the best matching you will also need to calibrate your monitor with Spyder or other calibrating device. After doing both, the print will look pretty much like the screen if you use a glossy or satin paper. But if you use matte paper, the print will be considerable less-contrasty, and that is why some people resort to soft proofing to deal with that issue.

Now there will be differences in the print between different brands of glossy or satin paper, and that is a matter of taste to figure out what you like.

My personal taste for my Canon Pro9000 Mark II printer is to use Canon Pro Platinum glossy paper for most anything that I print, except for flowers.

You might want to check out this book review of "Color Confidence"

http://www.bobatkins.com/photography/books/color_confidence_review.html

You can pick up used copies dirt cheap (under $3!) from Amazon (there are links on the review page).

It's not a bad introduction to color and color management.