Bottle cold to keep CO2 in suspension to reduce foaming. Competitive brewer myself and fellow Mass resident. I clean and sanitize bottles, then put them in the fridge to chill (with sanitized foil on top of them). Then I use a TapCooler counter pressure filler (very easy and simple to use, highly recommend it) and fill directly from the taps. Bottles being cold helps reduce foaming.
Were you thinking of just sticking a bottle under the tap and filling it? Or attaching tubing to the tap and filling with that? The first one would be a bad idea, as you would be allowing oxygen in and probably get a ton of foaming. Filling with a tube will work, I used to use a growler filler to fill bottles, then got one of these
Bottle Filler, which works great. However, I was always getting "low carb" comments on scoresheets, so then moved on to the Blichmann Beer Gun. However, the Beer Gun requires turning down CO2 to like 2-5 psi before filling and would cause a lot of foaming in the first few bottles. Then the TapCooler came out and it was a game changer, so simple to use, don't need to lower pressure to fill and works like a charm. One tip - Whatever you wind up using, make sure to chill that too so the cold beer does not hit warm filler and foam...I do it by just opening the tap and let beer run out into a bucket for 3-4 seconds. This chills the TapCooler and moves the beer that has been sitting in the lines for who knows how long out.
I know some competitive brewers keep a whole separate line for bottle filling to avoid filling from the taps. You have to be diligent about cleaning the taps frequently, including breaking them down and soaking the parts, to avoid buildup inside your taps getting into your bottles and then causing an infection as the beer warms up traveling to a competition somewhere around the country. It's killer when you have a beer that scores 40+ in 3 comps all of a sudden gets a 16 in another because it's an infected mess.