I sometimes put 3 lug bolts in loosely, lay a 2x4 across the face of the hub, (touching only the 3 bolts) and then use two c-clamps to pull the rotor off.

I don't let the clamps force the rotor off, but use it to put tension on it. Once tensioned, a good tap with a hammer on the hub pops it right off.

Oh, and yeah, put PB Blaster, or WD40 around the hub and just inside each hole...

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02 S500
92 500SL
92 400E (Sold)
87 300E (Sold)
83 300D Turbo (Sold)
75 300D (Sold)
74 240D (Sold after 20 years)