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?
pick them once they are well established, not right after you have planted them and before they flower, once they start flowering the plant uses it's energy toward the flower and not the flavor of the leaves
Reply:When there is enough to pick some without killing the plant, and when they are really aromatic, and usually before the plant goes to seed.
Reply:It doesn't take long, once the plant is established. Herbs grow quickly and easily (like weeds!). Once the plant goes to seed, the herbs will not taste as good.
Reply:Like they said above, but to keep them growing, pinch off any flower buds. That keeps them bushy and producing leaves instead of flowers.
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