I do mine every 30,000 miles or 2 years as my shop manual recommends. The shop manual says to use a pump or other device to take the old fluid out of the reservoir but I do not bother with that for fear of air getting into the system. It is important that whatever you do that air does not enter any part of the system during this procedure, otherwise, the air will have to be bled out and extra time is required. What I do is have an extra person on hand, and I open one bleeder screw at a time and as the fluid drains out, the other person puts new fluid in until I see clean fluid come out of my bleeder screw and then close it up. I start with the passenger rear wheel (furthest from the master cylinder) and move to the other rear wheel, then go to the passenger front, and finish up with the driver's side front. No pumping of the brakes is required.... just let the fluid trickle out and if everything is paid attention to, the new fluid will simply displace the old with no risk of air entry.
