These mandated behaviours should be such that freedom is restricted by the minimum needed amount. As an unrelated example: smoking is not prohibited; Smoking in closed public spaces is.
For vaccination, I believe the sweet spot of mandated behaviour is to mandate vaccination of children participating in large public groups. Children that go to public schools must get vaccines. Children playing team sports must be vaccinated.
Parents then maintain the freedom of not vaccinating their kids, but must abide by the rules that prevent those kids from being a menace to the rest of the population.
Note that this is only needed because vaccines rely on "herd protection". If vaccination coverage drops, vaccine efficacy drops precipitously. The effect is very pronounced. 90% coverage is much less effective than 99% coverage. Not vaccinating a child poses a risk for the child, but also poses a risk to all other children he/she is in regular contact with.
P.S. A lot of other discussions may arise: Government prohibitions tend to be slippery slopes; Children should be somewhat protected from their own parents; Should groups be allowed to skip vaccination altogether?. These are secondary issues, irrelevant to the main decision that is: Mandate vaccination for children that are members of larger groups, so that the group maintains disease protection.