speedeast, he's not going to completely remove the calipers off the system... just to replace pads/rotors... you can usually unbolt the caliper, then hang it out of your way while you replace the rotors/pads...
to the OP, you have a
parking brake shoe set inside the rotor hat...
sure, you can compress the pistons with a c-clamp just like the fronts; but getting the rotors off requires you to follow some steps (like disengage the parking brake, back off the adjuster, etc...)
instead of me listing the procedures, here's the following
Factory Service Manual from
this awesome site:
http://www.nicoclub.com/FSM/quest/2006_Quest/br.pdf
start at page BR-34
sorry to be late; if you posted in the quest section, i would have answered quicker