6.5 minutes is soft boiled for a large (in US egg sizing) egg. Soft boiled eggs don't have fully set yolks or firm whites. These are the kinds of eggs you use for ramen.
If you want a fully set yolk you need more time (about 10 min or so), but that's a personal preference.
Bring a pot of water to boiling, then once boiling put eggs in for 6.5 minutes, then put in cold water.
Will give me perfect eggs every time that look like the first image