When the gas comes up to getting full, I always press the rubber boot against the inlet mouth with the free hand and release the pump lever.
You have to wait at least 10 seconds in that position for all the gas to return from inside the booth back into the tank.
Then slowly pull out the nozzle and with the other hand and a rag catch any remaining drops.
You get used to the procedure after a short while and never have any spills or drips again.
Some pumps still have the old no-booth-exhaust system, then you just gotta press a rag around the tank inlet.
I thought these are outlawed by now everywhere.