I would say they are better left until they are just squeezable, a stage that varies with type! If you find they are rock hard, then they will be sour, I leave them until they are nearly falling off. They get more sugar in them the longer you leave them, and the wasps soon find out, and start chewing holes in them, so be careful not to pick a "live one". They do stay well on the bush if you can let them, but if they are all ready at once, then top & tail them and bag em up into the freezer. I have never blanched them, just into the bag in a useful amount, and freeze them. I have lost some in the freezer, and found them 3 years later! made them into great jam. Well my wife did! actually.
Brian