I use a hook and retrieval system that is very slick. You can see a picture of it in my album. The two lines that return from the hook are each about 10' long and when attached to the buoy run through the two bow chocks and secure to the cleat.
When it's time to leave, I just use the boat pole and grab the wire loop on the hook and it pops right off.
This system was introduced to me by fellow tugnuts members John and Laurie Gray during their small boat cruising workshop. It's a great weekend of information and fun for anyone cruising in small boats. Their blogs are linked on the homepage of this forum.
Cheers,
Mark