When fingerpicking, single notes should be as strong and confident as chord playing. While there are several ways this can be achieved, the best route means developing a solid picking hand technique that countless players favour.
Essentially, there are two ways of plucking a string with fingers: free stroke (tirando, in classical guitar speak) and rest stroke (apoyando or picado in the world of flamenco guitar). Both approaches have the same goal which is to pick the string with an inwards motion (ie, into the guitar) and then release it.