There is no way to cleanly and completely physically remove discosoma unless you remove part of the rock they are attached to with them. It is not possible to pull them off or razor blade them off the rock, and any little piece left behind will regenerate, so ignore any uninformed advice along those lines. Likewise for removing the rock and scrubbing it -- absolutely useless unless you completely nuke the rock. If you have lots of them, it might be in your best interest for now to just focus on controlling them rather than driving yourself crazy trying to eradicate them. Eventually you might be able to get rid of them all, but having a few that are well-behaved might also be just fine. Patience is key, because this is not going to happen overnight.
Discosoma are closely related to anemones, so what works to kill aiptasia also works to kill discosoma (except for the most effective method, Berghia). Discosoma are in some ways easier to treat because they don't immediately retract when treated like aiptasia do. Joe's Juice, Aiptasia-X, kalkwasser paste all work, usually with one application. Hot water generally does not work. Acids like vinegar and lemon juice can work, but if you have a lot of discosoma to treat you can really upset your tank's chemistry with these.
Turn off the flow in your tank. Each treatment should focus on one manageable section of your tank. Using Joe's Juice, Aiptasia-X, or thick kalkwasser in a syringe, cover each shroom's oral opening. You don't need to (and probably cannot) inject the stuff into its mouth. You don't need to cover the entire oral disc, but it won't hurt anything if you do. Wait at least 30 minutes before turning the flow back on, and be sure your skimmer is operating well. A small percentage of the treated discosoma will survive and eventually re-emerge, so a second application after a few days is probably going to be necessary.
FWIW, I use thick kalkwasser because it's cheap, readily available, and as easy to use as anything else. Mix it to a consistency like heavy cream and it will stay put on the pest.