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The pumpkins should be uniformly bright orange in color (unless you're growing a white or mottled variety). The vines will begin to shrivel and dry out. Most importantly, the pumpkins' skin will be tough. If you can indent it easily with a fingernail, the pumpkins need more time on the vine. Leave several inches of stem at the top of each pumpkin, since this keeps them from rotting too quickly. Don't pick up the pumpkins by their stems, since if the stems break their bases will rot. As soon as you cut them, they're ready to be removed from the pumpkin patch and used in whatever way you like. Rinse them off (you might need to scrub the dirt off the bottom) and either  cut them to make pie or  carve them into jack-o'-lanterns. If you store pumpkins in a cool, dry place they'll keep throughout the winter months.
Look for signs the pumpkin is ready for harvest. Use shears to cut the stems. Rinse, use and store the pumpkins.