You take them off with a wrench. You might need a pickle fork to separate them once the nut is off, but basically you take the nut off and bang it out. The one you can't see has the nut on the other side.

It may be easier with the front suspension unloaded, so you might want to jackstand the entire front end.

As far as the boot goes, you just need to try to be careful not to tear it. It might be time to replace the boot anyway if it's been getting power steering fluid on it. PS fluid can do some interesting things to certain rubber types. Not as dramatic as brake fluid, but interesting none the less. From the pic, I'd say your boots look okay, but it's hard to tell 100% from a picture.

If all is good boot wise, make sure they have plenty of grease before reinstallation.

One more thing - If you've never taken apart the steering before, you're better be really careful to put everything back properly and make sure that you obey the torque specs. You really don't want that nut to work loose when you're driving.

-tp