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Keeping this in view, should I cut the flowers off my succulents?
You can leave the bloom stalks alone but they really start to look unattractive as they continue to dry up. It is best to cut off the bloom stalks once the plant is done blooming. While getting succulents to flower is not a priority when growing succulents, it sure is a treat to see a happy bloom from them.
Accordingly, why is my succulent flowering?
Answer: The flower blooms from Echeverias do take some nutrients from the plant, however they won't cause it to grow leggy. Some succulents only bloom once in their lifetime though, and in this case, a bloom means the mother plant is finished growing and will die after blooming.
Kalanchoes tend to grow long stems and as do many other fleshy succulents. Once a succulent stem gets bare the leaves won't grow back on it. You need to cut it back and propagate by stem cuttings or have it rejuvenate from the base (the piece of stem & roots still in the soil).