We use the framework of counterion condensation theory, in which deviations from linear electrostatics are ascribed to charge renormalization caused by collapse of counterions from the ion atmosphere, to explore the possibility of condensation on charged spheres, cylinders, and planes immersed in dilute solutions of simple salt. In the limit of zero concentration of salt, we obtain Zimm-Le Bret behavior: a sphere condenses none of its counterions regardless of surface charge density, a cylinder with charge density above a threshold value condenses a fraction of its counterions, and a plane of any charge density condenses all of its counterions. The response in dilute but nonzero salt concentrations is different. Spheres, cylinders, and planes all exhibit critical surface charge densities separating a regime of counterion condensation from states with no condensed counterions. The critical charge densities depend on salt concentration, except for the case of a thin cylinder, which exhibits the invariant criticality familiar from polyelectrolyte theory.