It seems the best route to let them ripen on the plant before harvesting, but if all your bunches look like they are all going to ripen at the same time you may want to pic one bunch early just so you don't have too many bananas to eat at once.
Also you might need to "prop" up the stem, because some varities will topple before they are ready.
What part of the country are you in? On the east coast Orinico is very common, you might have that type.