There's ALWAYS going to be some variation between what you see on your screen (varies from one to another, also), and what you can print on an inkjet printer, and what comes out of a commercial press. This is because the screen/monitor uses light to come up with colors, the inkjet uses ink, color laser printers use toner, and commercial printers use CMYK and spot color inks. And what you can see with your eyes has an effect as well on what color will look like. Unless you want to go the very expensive way in calibrating your color (electronic devices used by high-end graphics professionals), the best way is to experiment a bit. Print out one layout that has a lot of different colors and compare it to the version you see onscreen. Check for the color clarity as well as the overall brightness, contrast and sharpness, and the saturation of the colors. That should give you a place to start from in any changes you need to make. It may be that you need to brighten up your layouts a bit to compensate for a printer that gives you dark or muddy colors, for example.
Also, you can ask your printer (wherever you have prints made) what settings they recommend for their particular printer (they may give you a printer description file to use when you do your page setup). When you're printing to your own printer you use the same sort of file specific to that printer. These printer description files are all available online for free to download from the printer manufacturer's website.