If your dead set on doing it then go for it....
It will make sense when you take the wheels off and on a scale of 1-10, is about a 1. You'll be fine. The easiest way to do it is to do one bolt at a time. The caliper will rotate slightly and then the pin (the one you removed the bolt from) will just pull right out. The boot stays put so the pin pulls out of the rubber boot.
On another note, I'm at 50k and my calipers rattle. I pulled and greased the pins and it worked golden for about a week, now the rattle is back. The pins didn't "appear" worn but they did have rub marks on them (the grease inside was fine and plentiful though). Replacement pins are $5 ea so I think instead of greasing pins, I'm going to replace the $20 worth of pins when I do my brakes.