Hey JFC,
If you are speaking of the front drive shaft disconnect from the differential, You unbolt the "U" bolts holding the universal cups, remove them completely and use a pry bar if needed to pull the shaft and universal from the yolk. Caution! you should mark the universal and corresponding yolk to reinstall in the same position. Also, the cups could fall off the ujoints and little needle bearings fall everywhere. If you are replacing the U-joints then those need not be a worry.
Rear requires the unbolting of the uni ****** from the pinion yolk, and then on the bench you indeed have to remove the clips and press or hammer out the universal joint.
Good Luck.