You can let the cherimoya drop off but they may get a little over ripe. Its better if you get them a few days earlier. The flesh is more pure white color and not turning yellow/brown at all and also the stem will be intact. When the cherimoya drops off the tree from being fully ripe, the core of the fruit pulls out and leaves a big hole in the top of the fruit. But the fruit still need a few days to soften at that point and they are open to more rot/discoloration.
You will know when to pick, the fruit goes from green to starting to turn green/yellow. It is easy to tell the right time by looking at it if you know what to look for. So post photos and we can tell.
For guavas, if it is a yellow skin type, you wait until almost all green is gone and it turns yellow and if its perftly ripe it will be soft off the tree. And if it goes a day or 2 too long, they fall off.
Your bag trick is actually better for the guavas.