Personally, I find a big difference between rest (nothing) and active rest (light climbing or cardio). If I take complete rest days then I get sore after the next session back on, and inevitably that session doesn't go too well either. Now if I have a particular day that I want to try hard on, I take two rest days before it - either both as active rest or one full rest day followed by an active rest day.
Doing light cardio, stretching, saunas or just getting out and doing something decreases my recovery time significantly and also stops me getting that lazy feeling on the first day back on.