3 otocinclus in a 10 gallon is plenty to keep it clean. It is also starting to become a significant part of the bioload. I cannot imagine wanting more than 3 in a 10 because they would rely completely on my supplemental feeding to survive. Whether more than 3 is a good idea depends more on the existing fish load and your ability to properly feed them than on how many it would take to make them happy. They will not be happy swimming in their own poisons nor will they be happy starving.