It's fun being new to growing figs. That was me not long ago at all. In the end, you will learn by trial and error what works best in terms of how ripe. How humid your climate is and what you want to do with your figs impacts how ripe you want them. In my hot and humid and often rainy South Georgia, I find that they ferment if I leave them on too long. That over ripe fermented flavor is great in a muscadine but not in a fige in my opinion. On the other hand, if they are not good and very ripe, they are very bland for fresh eating in my opinion. But if I'm making fig preserves out of them, I prefer them firm unless I'm after a more jam like fig preserve. If your climate is not humid, you can let them partially dry on the tree, and they will be rich and wonderful. But of course, the longer you wait to pick, the more likely a bird or rodent will get your figs. My trees are big enough that I don't have to worry about that as much. God bless.
Marcus