No, the only thing you need to remove is the two #3 phillips screws that hold each rotor on the hub. You will prolly want to pick up an impact driver to get them loose.
The two holes opposite the metal screws use a bolt to pop the rotor off. I can't remember the size but it's a pretty common thread pattern. Pop the bolt in the hole and it works the rotor off without any damage to the rotor.
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