Just brainstorming, I've never tried to get them off, but it's something I'll have to do eventually. My right rubber is just about worn through after a spill I took last year. So I'm interested to hear what others have done.
Off the top of my head, maybe if you can get the tube from any aerosol spray lube into the gap it might get it to slip right off?
Heat it with a heat gun?
Compressed air between the peg and rubber while you pull it off?
XeNoSCR