How to configure teamviewer so it does not load unless needed

If you mean teamviewer 8 try sudo teamviewer --daemon disable (disable teamviewer 8 autostart)

I've had this problem just now, and solved it by changing the option "[int32] Always_Online" to "0" in the file /etc/teamviewer/global.conf. Basically, what you should is to access this file with sudo privileges, and change this line:

[int32] Always_Online = 1