Do not put your hand or foot anywhere you cannot see. Don't step over bushes, rocks, etc if you cannot see what is on the other side. In the heat of the day they get into the shade of rocks, bushes, under vehicles, etc. In the cool evenings they come out, so use a flashlight, but they will mostly try to stay out of your way. Early mornings will find them in roads, open sunny areas or on rocks to get warm after the cool of the night. Do not depend on them rattling before striking. The rattle is a warning but if you get to close to fast they will just strike.
I have seen them slither between my dogs legs without a fuss and then coil to strike and rattle when I came along behind the dogs. Carry a stick in the desert to make them move along. In town you can call animal control but in the country deal with them as you see fit if they pose a continuing hazard.