The best thing we can all do is practice. Take a half a day every now and then with your paddling crew and practice tactics for getting someone out of the water with your boat, with a rope, etc. You'll understand the issues around using a tether to pull someone to shore, having them grab your loop, pulling them out as they climb on your stern. Try as many combos as you can. I took a safety course a few years ago and we practiced all kinds of scenarios and mock situations. I was extremely helpful.
You don't want to be figuring out what works for you in a rescue situation on the fly.