The difference between each word is about how strong it is, for example, "Pissed" is as strong as angry, but "Upset" is less strong than pissed. You can use angry and pissed at the same because those are similar, but if you use upset is less Strong, I mean both of them means almost the same that depends what are you talking about, and the intensity of your feelings.
Learning the meaning may help you!
Angry - you get mad, usually this emotion comes with emotional disorder including yelling or shouting and perhaps violent behaviors.
Upset - Something makes you feel uncomfortable, and you feel emotional pain.
Pissed - You feel unfair or excessively annoyed so you're not cooperating with people.