When restarting after EOC, I pop the clutch if I'm moving at all. If stopped, the key is the only alternative. When restarting on the fly put the transmission into the gear that you would use to go that speed if you were driving. If it is an inbetween speed go with the higher gear. Also be ready to depress the accelerator.
With a bit of practice the "pop" start can be done with minimal turbulance, thus ensuring minimal wear to associated mechanicals.
