I am just the opposite. I like the arrow on the shelf as close to my hand as I can get it. Usually I just shoot off of leather on the shelf. If the shelf is flat, I put a short piece of screen spline under the leather so that the arrow contacts the self at the deepest part of the grip (right above my hand).
You will find lots of personal preferences on this issue. Many like the weather rest style or brush style rest. Others, like me, prefer to shoot off the shelf, either with leather or a rug type rest (calf hair, Bearhair, or seal skin). The good part is either method is relatively cheap and totally reversable. Experiment until you find what works for you.
My Herters 52" came with a brush rest. I haven't changed it because the self is not radiused, so leather won't work. Since the finish on the bow is in great condition, I haven't brought myself to carve on it yet. It shoots pretty well from the brush, so I'll leave it for now.
I would recommend, if you use a stick-on rest, you try to keep it as close to the shelf as you can. Having the arrow close to your hand makes pointing easier and more accurate.