OK a couple of people mentioned it and I will mention it AGAIN! Flush your hydraulic clutch!! When the fluid gets old and cruddy the clutch will not completely DISENGAGE which is EXACTLY what symptoms you will experience as you described!! Try to pop your bike into gear without squeezing the clutch lever and it will act as you described! 24,000 miles is a little premature to have any of the problems you are describing, and if anything, the clutch will slip, not lock up. Clutch hydraulic fluid should be changed every 3 to 4 years...
Just turkey baster'ing the reservoir does NOT replace the cruddy fluid in the slave, which is where your problem most likely exists. Perhaps the cheapest way to go is replace your bleeder with a "speed bleeder" which costs less than $10, and makes bleeding a breeze! All you do is loosen the bleeder, attach a hose to it and pump the fluid through, no need to retighten the bleeder every pump as the speed bleeder has a 1 way valve installed in it and it will not draw air when you let lose of the lever. The absolute best route to go is use a Vacuum pump, which costs around $30 to $40 at Auto Zone, O'Reilys, Advance Auto, etc. Do NOT go to NAPA, you will end up spending another $20 to $30 for the exact same vacuum pump!