I also sail in and out of the surf, as do all of us in Daytona. You pick your spot and pick your time. You do not FLY into the beach. You control you boat speed, stay between the waves. It is alot easier to sail into a crowded beach then it is to manouver on a crowded start line. One more reason to race. It really improves your boat handling.
As for launching you pick you time and conditions. If the wind and surf are not right you leave it on the beach.
I also carry a whistle. My biggest fear is the non cat sailor person who runs out to help.