Remove those caps and you will find tapped holes into which you screw some bolts. Tightening these jacks out the conical sleeve that grips the shaft. I have the maker's instruction leaflet if you want a copy. (Remove the bolts around the rim of the sleeve first )
Screw in a bolt into the holes to force the coupling's tapered collett (male) out of the housing (female). There is a slot in the collett which you can then get screwdriver into to open it up and the propshaft can be pulled out.
Although there are 3, I have found that using just one is adequate, unless the joint is corroded.