The answer isn't as cut and dry when discussing muscular hypertrophy. Generally speaking, 90 seconds is considered a reasonable rule of thumb by most trainers.
You need to train yourself to lift large weights repeatedly before you can become proficient at doing so. There are concrete measures of power
In a competition between two persons who can each bench the same weight for 20 repetitions, guess who will come out on top .
To achieve your strength-training goals, you should maximize your ability to lift increasingly heavy weights.
The more time you spend recovering between sets, within reason, the better off you'll be. You'll still be tired when you take up the weight again.
In contrast, you will be able to lift more weight if you rest for a longer period of time, whether that's two or three minutes for lighter.
Simpler workouts or five minutes or more for a strong lift that engages your whole body.