They're not usually designed to come apart, although some will come apart without too much trouble. It depends on how they're constructed. Sometimes the armrest pads are held on with pawls and screws and can be easily removed, others are melted in place with "plastic rivets" and need to be drilled out and then glued back on. You can see the exploded view of your door panels here on EI-45. Notice they show the panels as assemblies and don't give any disassembly instructions. So you'll just have to pull the panel and see how the armrest is attached:
https://www.nicoclub.com/service-manual ... 0%2FEI.pdf