When launching from a soft sandy beach or a boat launch (using a scupper cart) I put the pedals in when taking off the truck, or soon afterword (before assembling and adding gear). You just need to remember not to slide the hull on the sand without first lifting it to clear the fins.
Launching this way allows me to pedal as soon as it's deep enough, which often is a few feet from shore, even before it's deep enough to lower the rudder. That way I have the fin power to push through any shore break.
On landing, I do the opposite. I always remove the pedals outside of the shore break area, and paddle in. You can't steer when on a wave with the rudder raised up out of the water anyhow. Plus, after replacing Mirage fins and masts a few times, you (I) finally get the idea that paddling in is much cheaper!

Congrats on your new boat and welcome.
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Hobie Island Sailing since 2006