How do I know when to pick herbs?

I have started a small herb garden consisting of Basil, Cilantro, Rosemary and Chives. How do I know the right time to pick them for cooking?
How do I know when to pick herbs?
I just keep picking what I want to use when cooking. This will stimulate the growth as well. When adding to your recipes add close to the end because fresh herbs shouldn't be cooked a long time.
Reply:As long as there are leaves you may harvest them. Encourages fuller growth, more herbs. Best to use them before flowering and bolting. You can remove flowers as they sprout to prolong harvest.
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