Everyone's taste is different in bagels (and pizzas!), but for me a bagel is never hard, but definitely chewy and somewhat dense. My pizza dough is nothing like my bagel dough which includes hi-gluten flour, sugar, malt syrup, and dry milk. Also, my bagel dough is much stiffer at 49% hydration vs. 62% for pizza.
Here is the breakdown of bakers' percentage by weight:
flour 100% (including starter)
water 49% (including starter)
dry milk 5%
Barley malt syrup 5%
starter 5% of total mass
I boil about 30 seconds on each side. The boiling is to produce a thin, shiny, chewy crust.