Generally speaking, Pipi shrimp is steamed for 5-8 minutes, but this means using an ordinary steamer. If you use a pressure cooker, the time will be faster, 3-5 minutes.
How long it takes to steam Pipi shrimp depends not only on the size of Pipi shrimp, but also on whether Pipi shrimp has a shell. Shrimp without shell is generally used for soup, stuffing and cooking, so steamed shrimp with shell is the main method.