Exactly, instead of joining the main force where ever they go, I try to fill in the roles where it requires. Except sniping. I'm awful at that and it's unnessary.
I assign myself secondary objectives every time I respawn, like cut off the enemy from reaching a the objective, guarding the flag from enemies probing the area, and covering our flanks when we attack.
And if the time and place requires it, yes I go for the objective.