I just wait for the spiky seed pods to split, then pick and harvest. We always get lots of volunteer plants the next year, too, which replace any mature plants that die from occasional freezes, etc. I lived just south of you on Lafourche Bayou for more than 14 years, Castor Beans grew like weeds. Getting ready to plant a few here in Florida, too. Good Luck!
In Southern California, Castor Beans grow wild in waste places. Aside from being a beautiful plant, the seeds are poisonous, and are also used to make castor oil. I have not heard that they are illegal.