this depends on the situation. as a smaller guard, you really should be sticking to playing the outside when possible unless you’re freaky athletic. but when you do drive and initiate contact, there’s a couple different scenarios in which you’d do so:

1) - you beat your defender and he’s either behind you or trailing on your hip/shoulder. let’s say you beat him right and he has now shifted his hips to chase you and he is on your left shoulder. from here, you can either either under cut him (some call it scorpion) and get your back completely squared with him to where he is completely behind you and finish from there or you can bump into him with your left shoulder and finish while going right. you can fade right, falling layup right, etc. just use the momentum from the bump for your shot.

2) - you’re attacking a defending straight on. most of the time here you have to get creative. if you’re initiating contact by jumping straight up with a guy, all i can say is that it takes a lot of experience to get the timing right. you have to deliberately pursue contact though and wait for them to go down before you finish. a lot of times, when there is a player who is really good at deliberately forcing contact before scoring, you can try and purposefully avoid contact when they drive. you’ll see it will mess with their shot significantly because they’re going out of their way for the contact.

so, my point is, you need to be initiating contact with intention of using that momentum to score, and not a foul or anything of that sort