Varnish stays rubbery for a long time or.. It takes quite a while before it is sand-able unless you use wet sand paper.

Two tips - watch doing around the coaming because if you press a foam brush into the coaming it will squeeze out more varnish that you realize and an hour later you have a drip.

If I have a drip I have used a single edge razor blade and holding it on an extreme angle, you can slice away the drip and not go through the surface.

Scrapers will only work if the varnish is hard and then the damage can be greater than the drip.