WARNING: This page is about a different car, the 2002 Mazda MX-5 Miata and 2001 Mazda MX-5 Miata. However, it is still accessible from the selected car via links, so may be relevant.
Secure the gear case in a vise and tap out the knock pin toward the ring gear side.
Fig 1: Securing Gear Case In A Vise & Tapping Out Knock Pin Toward Ring Gear Side