R-Bo beat me to it.
The best method (IMO) is to use the tool shown in R-Bo's post.
If you have access to a Harbor Freight you can get one there or any FLAPS for not a lot of money. If you use the tool properly it will last a lifetime (let's face it, how often do you change your tie-rods).
If needed you can just buy the tie-rod boots themselves.
Also, the tool will not work for the lower ball joints (use a pickle fork, you can't get the boot by itself anyway). But I think it will work for the idler arm.
