You're doing it just right. The biggest mistake you can make when screwing in drywall is to drive the screw too deeply, tearing the paper outer layer. The paper is what's holding the plaster inside together enough to be screwed down in the first place, so keeping it intact is the key to a secure connection. You want the screw head to be just below the surface, just dimpling the paper so it can be later filled with compound and hidden. A clutch isn't going to help you with this because you'll find each screw will require different torque to get to the right depth. And I've tried the auto-stop drivers that chuck into your drill and found them to be inconsistent at setting the screw to just the right depth, and consequently slower than just using a regular drill driver and my own eyes.
My technique is similar to what you've been doing, stopping the driver at what I think is the right spot, but being careful to err on the side of not going deep enough. Then I run a finger over it to make sure it's dimpled, and if not I'll just use the drill driver as a manual screwdriver, turning the whole thing by hand to get that last 1/4 or 1/2 turn. As a final check before starting my first mud coat, I'll quickly run my 6" knife over all the screws and if I hear any clinks, I know I've got to drive that screw in a little deeper.