When you select by clicking (as opposed to defining a selection area), there are 2 ways to select.
Clicking on an edge/node of an element or clicking on the surface.
To click on a surface you must have the 'quick selection' magnet active, either turn it on in the selection tool settings or use the SPACEBAR key to toggle it on/off.
Either way, if there is only one element available to select it will simply select it.
If there are multiple overlapping elements then you can press the TAB key to cycle through the available elements.
Holding the SHIFT key while selecting (which simply means add to selection), will instantly highlight the element you are about to select.
If it is not the correct one, try the TAB key.
Note, element like slabs and roofs only have a surface in plan when you turn their cover fills on.
You can also activate any tool when selecting and hold the SHIFT key (add to selection), and it will favour that particular type of element first.
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Versions 6.5 to 25
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