The pin pushes toward the middle of the car on all mine. Once the pins are out you can change the pads. Have new sensors on hand, the old ones may come apart on you. If they come apart make sure you get all the pieces out.
You do not have to take the caliper off to replace the pads but it does have to come off to remove/replace the rotor. Remove the bolts that are holding the caliper on. Make sure you put removable Locktite on the caliper bolts during reassembly.
They get easier the more you do - good luck.