There’s no one right way. I like to use both the pick and my fingers to get different sounds. I’ve added this question to the list for the next RGS Live so a can spend some time explaining AND showing what you can do with a pick and how I use my fingers.
If you decide to give it a go here’s two lessons you’ll find helpful:
I second the Monster Grips silicon grips (https://www.monstergrips.com). I put them on all my picks.