I usually do take them out fairly quickly after I hear the end alarm. I also prefer yolks which are still a tiny bit runny, so I agree that a short cooking time and removing them quickly works best!

But it's not the end of the world if you don't as it cools down quite quickly when it vents (if set to quick-release). They might be slightly overdone, but certainly not as bad as forgetting them and leaving them boiling in a pot for 15+ minutes. Which I've done more times than I care to admit.