1. I once read that you should press a sheet of greaseproof paper on to the grater, then lift it off after grating and the zest is on the paper. It works up to a point.
2. If the zest is to be included in a mixture, I peel it off with the potato peeler and drop it in the food processor with some flour, sugar or breadcrumbs, other dry ingredient or even onion or garlic (e. g. for meat patties), as the first step. If you have sharp blades, the zest reduces to a powder and can mix evenly into the rest of the recipe.
3. Best results obviously from a fresh lemon. If not quite fresh, maybe a short stint in the freezer will make it easier to grate.
4. I use the fine grater side of the box grater. Never the lethal "zester".