On the wiki page, the PV diagram shows it pretty well. Above the critical point, you have PV curves where P increases with decreasing V throughout. You take a cylinder of fluid, and you compress it, you expect the pressure to increase. Pressure "tries" to minimize itself over the whole system, and in this case, it does so by distributing the density evenly over the entire container.
Below the critical point, you have a portion of the PV curve with an upward slope (dotted line part). This portion is unstable because if you have a cylinder of the fluid, it will compress itself, allowing the external gas to expand. Therefore, if you have two cylinders pushing against each other, initially placed in the unstable region, one of them will spontaneously contract, and the other will expand. One becomes the liquid and the other the gas. This will reduce the overall pressure and is free-energetically favorable. This partitioning between liquid and gas will always happen as long as you have the unstable region in the PV curve, so that means that the partitioning will stop when the positive slope stops.
Since the curves vary smoothly with parameter changes, this means the positive slope stops when it is replaced by an inflection.
You can't expand a critical fluid without changing the pressure except infinitesimally. Any finite volume change will change the pressure and shift you out of critical.