Sometimes people have to wait a while before they add a CUC in order to have algae for them to eat.
Usually when people talk about mature tanks it's for pickier things like anemone or less hardy coral. Those don't tolerate noob mistakes well, and they need the biofilter and other parameters to be settled down. Most of your regular CUC snails and crabs aren't too fragile like that, but urchins and some other things like abalone can be more fussy I think.