If I pull off the runway with no other instructions, I'll switch to ground. Right or wrong, I don't have time to sit and wait for someone to say something. Ground control usually knows you're coming.
- - - on a side note, I remember being frustrated sometimes when it took a while for ground control to answer (this was at PDX). I paid a visit to the tower one day and found out why. At the larger airports where the tower is right in the middle and there's only one ground controller, he/she could be working someone on one side and has to physically walk to the other side of the tower "cab" to see where you are and give instructions.- - -
Usually they'll say "contact ground when clear." I've contacted them as I'm turning off the runway "Ground, Skywest 100 clearing 16R at H6."
OR
They'll say "Taxi to the ramp this frequency."
OR
"Taxi to the ramp, monitor ground .9" Then you tune, but don't talk.