I also do not use straps, and they are the first thing I remove. However, I tend to palm my poles at the top. (You can do that when they weight only 3.5 oz. each). I realize this is rather "old school" of me. My first pole, long ago, was a English walking stick with a spherical knob at the top.
I'd really recommend it, though. It improves the push-off tremendously and it eliminates hand tiredness, believe it or not.
Also, I generally walk with only one pole. When I buy a new set, I'm stuck with the other one, and nobody seems to want to trade for one pole. :-)
Tom B.

