How do you land a biplane on a Zeppelin? You fly up underneath it, match your speed with that of the airship, then hook onto a landing frame lowered beneath the aircraft and let it lift you back onboard.
I gave a talk about Zeppelin history back in 2008, and recently rediscovered the slides and audio and turned them into a YouTube video: https://www.youtube.com/watch?v=omobajJmyIU
It has images of the biplane landing mechanism at 3m57s.