Yup. Many rotors/ hubs have a cutout on opposite sides to expose more of the race to a punch. Best to use "soft steel" or brass as opposed to a hard punch. You can even use a bolt, if you grind the end nice and flat. Just tap one side, then the other, so it comes out evenly.
Going back in, find a socket, piece of pipe, etc that will slip inside the hub, but contact the rim of the race.
Don't take them out unless you need to replace them. Just clean 'em good and look for heat damage, or galling/ wear. If they look OK, just clean the inside of the hub with the races in place.
Many cars go their entire useful life with same bearings