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Start with a tapered punch and a 24oz ball peen hammer "REMEMBER THE PINS ARE TAPERED and only come out one way" Also make sure you are hammering on a solid suface or you will loose hammer force from the bounce.
They do come off apparently, but from some of the previous posts I don't think it was as easy as just knocking a pin out. I think there were some posts involving grinding it off with a dremel IIRC.
Yup, its a pain to get off for many people. I was lucky and had to cut mine off with a dremel. If you go really slow it works out pretty well, just had to replace the handguard cap that I had to cut through as well.