The correct way is to remove the wheel and knock them out from the back.
You could try applying some decent adhesive tape to make a handle of sorts, something like this: _||_ though I've always found by the time I've faffed around it's just as quick to whip the wheels off...
If you look closer there is a notch at one point, I would still use a small screwdriver with tape over the end to avoid any scratches.
There is usually a tool provided in the car where the jack is for removing these.
I removed mine using the suction cap from my mobile phone holder. Just lock the suction cap on the wheel cap then pull it forward slowly. Works a charm.
I should add that mine are the original MB caps; some say that the cheaper aftermarket caps are a tighter fit and won't budge that easy.
In any even I wouldn't use a screw driver because if it slipped it might damage the alloy wheel.