If one keeps always in mind that the suspension's job is to keep the tires in contact with the ground/road it can help to visualize operation, IMO.
If one had solid suspension, the problem will be that each bump with accelerate mass of the bike upward, often causing the tire to leave the surface. When the bump is cleared, gravity will need to return the bike to a position allowing the tire to contact the road again.
The tires cannot drive, or otherwise influence the bike when they are in the air so the ideal is for the tire to remain always in contact with the ground. In addition, the less downward pressure on the tire, the less traction so even partially reducing affects handling.
The job of the springs is to allow wheel movement while allowing the main mass of the the bike to remain in position so, more suspension travel is usually better up to a limit of weight and geometry. Softer springs will generally require more suspension movement as can be readily understood. The KLR has much less suspension travel than most true off road bikes so will usually require stiffer springs.
I recommend that you start by reading about sag and playing with your front suspension by making and changing spring spacers. As Grinnin stated, there are compromises to the rear which may be fine for your purposes.
Here's the first sag article I grabbed so haven't read it, however the concepts are simple so unlikely to differ much from others: Suspension and Springs
There are people here who know far more about suspension than I but often they have too many commitments to more important things like family and making a living so may not hear from them on general questions. I recommend that you play with yours and do some reading, then pose more specific questions for the more expert to answer.
We have some suspension professionals in some of the groups and I've noticed that they tend not to respond to the very simple questions. My wife often uses the term "simple" in reference to me so I take that as my cue. ;-)