if you are going to dip the emblems there is no need to remove them from the car. if you go to dip your car.com or search for them on you tube there is a tutorial on how to do it. basically you just mask off an area around the emblems, spray the desired amount of coats, peel tape and peel the dip from around the emblems. the plasti-dip tends to follow edges (like that on an emblem) automatically.
but if you do want to remove the emblem, dental floss or fishing string and a pair of gloves will do the trick