Fwiw, I think visual memorization is fine - but having it on paper IMO isn't.
I think paper (or a screen for the matter) is useful to look at some basic structures, but where to go from there should be done just on the instrument.
For instance, it might be a good idea to lay out a typical major triad in root position on whatever visual medium. Like this (A major triad on D, G and B strings):
x
5
6
7
x
x
Now, this may need a little explanation of the included notes. Maybe like this:
x
5 - 5th
6 - major 3rd
7 - root
x
x
From there on, it's easy to go pretty much anywhere by yourself in case you know some theory and "musical mechanics". And it's really not much that you need. One basic thing might be something like "major 3rd for major chords, minor 3rd for minor chords". So, where's that major 3rd in the diagram above? Right, 6th fret, G string. How do we turn it into a minor 3rd? Right, by lowering it a semitone.
So, what will you end up with? It's this (and I'm only posting the diagram for demonstration purposes, as said above, this should happen in your head and on your fretboard only):
x
5
5
7
x
x
Now let's do all three close position major triad inversions on the same set of strings. Again, posting diagrams won't make you internalize it, so what we need is an explanation of inversions. Basically, for now, the rule is "move the lowest note up one octave". So to get from our root position A major triad A-C#-E to the first inversion, we'd have to play C#-E-A. Where do we find those notes in that very order on the D, G and B strings? And once we found them, what would we have to do to create another minor version? And what would the second inversion look like? 2nd inversion in minor?
And now - wohoo - what if we did all the same stuff for a D major triad? And then, what if we came up with a rule to move from any A major triad to any D major triad using the least possible movement (still using the same set of strings)?
Also: How does all this transfer to different sets of strings (this is where the guitar really gets very nasty as there's the dreaded B string only a major 3rd apart from the G string)?
And what if we now tried to harmonize an entire major scale just using those triads? And can you alread guess which notes to alter in a major triad to arrive at a diminished triad (because that's what we'd need to harmonize the 7th degree of a major scale)?
All of this should easily be doable given the very little graphic representations above. But you have to explore it yourself - which, IMO without any question, is *the* most efficient way to get it into your system, even if it hurts a little bit more when you start.
The very same concept also applies to thirds, sixths, other intervals, other chord types/shapes, scales and what not.
Doing it yourself instead of relying on a paper will a) make you find out and memorize, b) make you listen, not watch.
How exactly? Like stare at them and learn them? Seriously, this is such an overused term - and it's hardly ever backed up with any useful "how to"s. So, how?