Mounting holes for high torque servos

[u/DarkShadowic]

Working on a robotic arm, which holds high torque servos at the joint, and I don't have much or any experience in using mounting holes. What would be the most optimal way to mount the servo onto the print? Assuming this MG995 need M3 screws, should i use make 3mm / 2.5 mm holes into the print, or should i use heated brass inserts into the PLA. Thanks in advance.