From the service manual:
(1) Raise and support the vehicle.
(2) Remove the wheel and tire assembly.
(3) Remove the hub extension mounting nuts and
remove the extension from the rotor if equipped.
(4) Remove the brake caliper adapter assembly.
(5) Remove the rotor assembly.
They sure make it sound easy enough, eh? Heat is going to be key for you.
And just to give you a heads up down the road, the rear rotor/hub is an assembly on the 3500s. You'll need to pull the axle shafts to get the rotor/hub assy off, then you can split it apart. As a bonus, the locking piece for the axle nut is a one-time use part, so make sure you have a replacement set handy (axle gaskets, too). Or
Quad4x4 has a kit to upgrade the stock spindle nuts to a removable/reusable setup. Also, this would be a good time to swap bearings and seals, and possibly even replace the parking brake shoes.