WELCOME to the forum Rebecca.
Yea, they are hard to take off but can be done without doing any damage. They do unscrew (counter clockwise) and you have to pull up while doing it, but not too hard of a pull.
By the way, anyone with a 2001 PT or anyone with the larger rear headrests....the aftermarket door pulls fit really well into the holes left behind if you pull the rear headrests out. You'll be amazed how much better you can see out the back window without the headrests.
P.S. Don't do this if you have people sit in the rear seats. I never do.
