Kerbouchard
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Just to try and help you understand more, when you are in your semi-auto modes ( like Av and Tv mode on Canon, and uhhh I think S and A?? modes on Nikon??? ) if you are in lets say Shutter Priority, if you adjust the exposure comp for an underexposure, the camera will stop down the lens because it knows you want the shutter speed to be what you chose. If in Aperture priority mode, it will speed up the shutter. Both would be done by "Underexposing" on the exposure comp wheel, but would be achieved by different settings.
I shoot 100% manual. So to stop down an exposure, would I need to underexpose all three? (ISO, Shutter, Aperture)
Since I think it was me who said to underexpose ambient by about a stop and let the flash pull the subject up to the proper exposure level, I figured I would chime in, even though you have already gotten some excellent answers.
Since I was talking about using flash, it kind of changes the answers, but not all that much. If I have a powerful enough flash, I will pretty much always shoot at base ISO(the lowest native ISO the camera has available), so I will discard that one for now. Now, we have aperture and shutter speed left. Since aperture effects flash power and ambient, it's not the best thing to use as a control. So, my preference for underexposing the background or ambient lighting would be to use shutter speed. Now, if I can't increase my shutter speed because of flash sync(basically a limit where your shutter speed is so fast that one part of the shutter is closing before the other is fully open, therefore the flash exposure doesn't reach the entire sensor causing a black line across the frame) then I have to go back to ISO or aperture. Since I am already at my lowest ISO, I will 'stop down' my aperture until 1/200th of a second(my sync speed) is underexposing the subject. So, now, we'll say I'm at ISO 200, 1/200th of a second shutter speed, f/8 for my aperture, and my subject is underexposed by about a stop. Now, I will add the flash to bring my subject up to the proper exposure level.
So, it's not a matter of 'underexposing all three'. It's more a matter of coordinating all three settings, plus a flash, to achieve your desired results. Since often changing one thing will impact another part of your shot, it's important to know how they interact and when to use what to achieve the results you want.