When should I enter PvP?
There are two types of pvp, spvp and wvw. Both are accessible at any level.
It sounds like you mean spvp, since you joined as a spectator. Rewards in this mode are largely exclusive to THIS mode only, and are cosmetic. The only exceptions are a few consumable items such as unidentified dye and skill points, as well as some inventory bags. Winners get money as well, but I am not sure how much a low level gets. None of the gear you acquire in spvp will help you in pve or wvw. However, in this mode you are always level 80 and have access to the same gear stats as other players, so there is no grind to catch up.
The other pvp mode is wvw. Rewards in wvw ARE useable in pve, as they are standard drops just like you will loot off of enemies, and for the most part the loot you acquire scales with your level. Once in a blue moon you might find an exotic skin that is only at lv80. I looted a Guild Shield, which is a lv 80 exotic quality item, on my guardian who is in her 20s. In this mode, your character is scaled up to lv 80 but you still earn XP and can still level up.
Either way, friends are always a good thing but you can hotjoin any spvp game in progress, and always find a commander to follow in wvw even if you don’t know anyone