I graduated last Spring, so I'm taking a year off before I start MPH in this Fall. I think for me it was definitely the right move! I've had the opportunity to really evaluate what I want to get out of my graduate degree. I got to travel internationally for a month and a half. I learned how to job search, build a resume, and had a million interviews (the more the better: practice, practice, practice!). I had uninterrupted time to write my personal statements and study for the GRE, and did better than I expected to! After a few months of job searching (done simultaneously while studying for the GRE) I found a full-time job at a private medical meta-analysis company (which is relevant to epidemiology, though not as altruistic as I would like my career to eventually be [most of our clients are giant pharmaceutical corporations..meh]). I'm learning what the 9-5 life is all about, and how to cope with the adult world. I won't lie, this year has been stressful. Finding a job was no joke, and I couldn't stand not knowing what was going to happen and having nothing to do. Apparently, unemployment is my mortal enemy. My lifestyle is much different now than it was as an undergrad but I think I've matured a lot because of it, and it definitely makes me appreciate being able to go back to school even more! So yeah, for me, taking a year off was definitely the way to go.
If you think you're ready for grad school now I wouldn't tell you not to go, but if taking a year or two off means you get to go to build your resume and go to your dream school, it's definitely a good choice to consider. It sounds like you're a bit unsure. Just think about what's best for you, not about what other people will think. I had family members that tried to pressure me into applying for Fall 2013, but decided it was in my own best interest to have a gap year.
Good luck! Whatever you decide to do, it'll work out. Life in your 20's is kind of insane, you just have to roll with it.