dresslered got the last laugh i guess! No you don't have to pull the axles, though it may help get those extra couple of drops out. Hell while you're at it put quality seals in there instead of the crap DC uses.
All in all, drain as much as you can, what you can't don't worry about. Just remember, eventually the axle will have to be rebuilt, just like we're all going to die so is the axle. You have to ask yourself, is wasting thousands of dollars over the life of the inital build, worth the effort and time, to save 10k miles in the long run? Just a thought for those maintenance happy people that change oil every weekend among other things.
I'm one of those happy people, but i do it sensibly. If you want some tips on the change out PM me.