Yep - that's right. Same with Eggplant - you can pick them when they are the size you like (though if they go yellow, it is good for seed saving only!). Once we realized how much better (sweeter, richer flavor) ripe (as in red, yellow, the ripe color) peppers are, we really don't pick any that are green or unripe - we let them go (in our climate, it happens soon enough!).
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Craig
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