After successfully voting for a Quest, voters will receive rewards pro rata to their voting weight. This is the same for CVX, AURA and LIQ voters who have delegated to Paladin's Auto voter.
Every week rewards are available on Thursday mornings/afternoons depending on your timezone. Head to the Claim app in the side bar to find your rewards. The rewards are grouped together by ecosystem so if you have tokens from multiple Quests you'll be able to claim them all at once in one transaction.
You don't need to claim every week. Quest rewards accrue so you're free to claim your earnings anytime.