Zesting and Juicing Citrus Fruits
Delia explains how to Zest and Juice Citrus Fruits.
When you are grating you only need the outer fragrant zest and not the bitter pith underneath. An old-fashioned four-sided grater does the job perfectly. A microplane is also good for grating provided you use it with caution, don't press too hard or you won't just get the outer zest. When you don't want it so finely grated use a zester, it really does only take the outer zest.
To extract the juice from the fruit one way is to use a squeezer which catches the precious juice in the bowl underneath and extracts the pips. A reamer does a good efficient job as long as you are prepared to fish the pips out afterwards.