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This was one of the first things I did when I got mine 4 years ago. Very simple. Use a hair dryer to soften the glue and then gently tug at the corner with some needle nose pliers. Mine came off clean with no residue. If you have some residue just use the adhesive side of some duct tape to pull off the residue.
yes, I just heated them up with a hair dryer and peeled them off
Note: if you use a heat gun instead of a hair dyer, make sure you've pulled the gun away from the visor enough so that it only heats the glue on the sticker. I got too close when removing mine, and burnt the threads on the visor and the yellow foam showed through the black. It drove me crazy for the few days after until I ended up using my sunglass clip to cover it.