Of course there has to be situational awareness involved. Some situations dictate we won't throw at all. Most of the time if a throw beats the runner I expect the MIer to get an out. I'd also expect that the other MIer, and CF will be hustling into a position to prevent an advance. Outs are precious. When the opposition offers us a chance to get one we want to take it. Most MIers can develop the ability to pick throw that are close enough to get outs on.
One other thing I liked about the video was that it made it clear what a catcher needed to avoid. Namely letting his throws tail, taking the MIer into the runner. They need to work on getting their front shoulder closed and throwing on line.