How to blanch and peel nuts?
You're missing an important step here: You need to use cold water immediately after the boiling water in order to halt the cooking process.


Boil them for about 1 minute, then drain.  (You can pour boiling water over them, as in the case of almonds - it doesn't really matter how you do this.)
Submerge or rinse in cold water, to prevent any further cooking and softening;
Peel them.


For the case of almonds, you should not rub them in order to peel.  Just pinch the end - they should pop right out of their peels.  If you find it taking any more effort than this, stop, don't waste any more time on peeling, and just blanch them again.  If you've blanched them long enough, peeling will be very easy.