I just use a hex wrench. No scratches on mine. But if you're talking about those little plastic caps then SLOWLY and CAREFULLY use a very thin flat head screw driver or razor blade to lift them up enough to where you can get a finger nail in there to pull them off.
If you have to have everything pristine then I'd suggest ordering a bag of those caps. Chances are you'll have minor chrome paint chipping off of them. Me, I could care less what the caps look like unless they're totally mashed.
What are you trying to do, by the way? Just adjust the bars?
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