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We had issues with the first train which was why the bikes traveled separately. But if you absolutely HAVE to leave with your bikes from the destination station then I would drop the bike off the day before.
This is what they wrote to me (I was also complaining about an aircon breakdown on the return journey which they told as to make a claim for):
"Thank you for your email.
I'm sorry to hear that your bike wasn't transferred onto the same train as you during your outbound journey, I can appreciate that this would have been very frustrating when you arrived into Gare du Nord.
However, when registering bikes and other larger luggage item, we advise that we will send your items on the first available train, as long as there's space. We guarantee that it’ll be ready to collect at your Eurostar destination station within 24 hours of registering it. As such, I'm afraid that I am unable to issue a refund.
For more information, please see: http://www.eurostar.com/uk-en/travel-info/travel-planning/luggage/luggage-services#.U6Qn0ZRdV8E"
I've never had issues with mine. I think you need to drop it off 2h before departure at latest.
But you can book it onto your train, as above. Often they'll send it on earlier train if space.