> but I imagine you'll regularly have people wander on to your property

Well, that depends on how large and obvious your property is.

Assuming you have a typical suburban 1/2 acre or 1 acre property, the simplest thing to do is put up a fence, or otherwise make sure that there are no trails that go over the property you use.

Otherwise, you need some kind of bounds marking and obvious "no trespassing" signs.

FWIW: The site identified public lands near my house that have a lot of trails on it. There are trails that go right behind peoples' yards, and most of them either have fences or sheds that make it obvious where the bounds are.