For every helicopter, there's probably a pitch setting that gives the best autorotation. That pitch is lower than the 'cruise pitch', and I'm sure that the manufacturer provides that vital information in the pilot's manual...
The 'helicopter mode' is not radically different from the 'autogyro mode'. In the latter, the rotor does also provide the lift, the rotor being indirectly powered (one can think in a 'pneumatic transmission' from the engine driving the propeller) by the relative wind produced by the movement of the aircraft.
In the very simple, present-day gyros, during the 'spin-up', the weight of the aircraft is slightly reduced, because the rotor is producing lift... The revs don't reach the critical value (the one usual in level flight), both for mechanical reasons (the pre-rotators, as they are called, are not built to transfer so much power, and a gyro rotor is not built, either, to withstand a very high torque) and because that could cause an unintended take-off and an accident.