I set up my camera in a way that I can move quickly without having to linger longer than I need to, but I do try (more failure than success) to take my time to compose anyway.
One other thing I find helpful is that I look beyond or above the human subjects when I frame the shot. However, I think this technique is more for calming my nerve than making me less prominent, as my subjects would see a dude pointing a camera at them if they do look this way...