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The best way is to get under the bottom edge of the boot and pull up. Making a hook out of a stiff wire (like a coat hanger) helps if you can't get your finger down in there.
Worst case scenario, break the plug so you can pull the wire up and out to make it easier to work on.
If you're changing the plugs and you have a frozen boot, sounds like it may be time to change the wires also. Make sure you use dielectric grease on the boot when installing the new wires.
