Below is the removal procedure found in the service manual.
REMOVAL - 2500/3500
Raise and support the vehicle.
Remove the wheel and tire assembly.
Remove the hub extension mounting nuts and remove the extension from the rotor if equipped (Hub Extension).
Remove the brake
caliper, (Refer to 5 - BRAKES/HYDRAULIC/MECHANICAL/DISC BRAKE CALIPERS - REMOVAL).
Remove the cotter pin and the hub nut from the axle shaft (Hub Nut Cotter Pin).
Disconnect the ABS wheel speed sensor wire from under the hood. Remove the sensor wire from the frame and steering knuckle if equipped.
Back off the hub/bearing mounting bolts 1/4 inch each (Hub/Bearing Mounting Bolts). Then tap the bolts with a hammer to loosen the hub/bearing from the steering knuckle.
Remove the hub/bearing mounting bolts and remove the hub/bearing.
Remove the rotor assembly (Rotor Hub/Bearing Assembly), brake shield and spacer from the steering knuckle.
Press out the wheel studs/hub extension studs and separate the rotor from the hub (Rotor And Hub/Bearing).
Remove the wheel speed sensor (Wheel Speed Sensor) from the hub bearing if equipped.