They should just come out with some light tapping with a hammer, they arent as tight of a press fit as wheel studs, the ones Ive done have always come out without too much effort... as long as they arent rusted stuck. Try some penetrating lube or heat around the hole if they are stubborn.
They are pulled in when tightening the nut, but again not quite like a wheel stud, they should go in ~80% of the way by just tapping them in with a small hammer. Yours look to be in pretty good shape based on the pic, if its just light pitting from surface rust Id probably leave them alone, or make the decision after removing them.
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