Best way to remove upper ball joint

What are you trying to remove it from? If you are trying to remove it from the spindle, a pickle fork will work quite well, If you are trying to remove it from the upper control arm, you will need a ball joint socket and an impact gun makes the process much easier. The ball joints are threaded and screw into the upper arms. The sockets come in 2 sizes so you will need the correct one. The sockets are available at most auto parts stores.