Suppose you want to sell 10 bitcoins.
Maker price: If you are patient and think the price might rise, and you want to get the reduced maker fee, then enter a Sell price that is higher than the highest priced order on the Buy side. In the screenshot below, you'd need to enter a price of 43,342.5 USD or higher.
Taker price: Any limit price equal to or lower than the existing orders on the Buy side will get matched right away and incur a taker fee.
The benefit of a limit price in this situation (versus a market order) is that it controls against price slippage (i.e. how far down the order book your order can go). However, depending on the size (volume) of the Buy orders, your Sell order may only get filled partially.
In the below example, a buyer is interested in purchasing 10.21532577 BTC at 43,340.0 USD. If you wanted to sell more BTC than that, you would need to look at the price and volume of the next buy order (0.3147 BTC at 43,337.50 USD).