I would definitely kill a rattlesnake in our yard, but would leave the non-poisonous ones alone. No need to even relocate the non-poisonous ones, IMHO, since they go after all the rodents, etc.
It sounds like the rattlesnake population is doing very well this year. There’s been an increase in sightings around here (La Costa area). A couple of people we know have had them in and around their houses in just the past couple of months. One (a baby) was in our friend’s kitchen when she accidentally stumbled upon it.