The way I like to do it is to unbolt the brake caliper, and move it aside then unclamp the thin clamps holding the rubber dust cover/seal to the brake rotor hub. Then remove the right side rear tire, remove the cotter pin on the hub, remove the hub, and slide the entire brake rotor/rotor hub off and put it in a vice with the bolts facing up. Then I use an allen wrench, and a socket extension and the smallest deep socket I can use to fit over the allen wrench and still be able to turn (adding a long easy to turn handle to the allen wrench). Then I force the allen bolts off, seperate the rotor from the rotor hub, put the new rotor on, add some blue locktite to the bolts, and tighten them back down in x pattern, corner to corner. Dont overtighten them. The locktite will keep them in place, but dont be a sissy either.
Then just installation is reverse of removal.