Joint Shaft Removal Note

WARNING: This page is about a different car, the 2005 Mazda MPV. However, it is still accessible from the selected car via links, so may be relevant.

Secure the shaft portion of the joint shaft in a vise.
As shown in Fig 1, insert a pry bar between the drive shaft and the joint shaft and tap on the bar to uncouple them.

Fig 1: Uncoupling Drive Shaft & Joint Shaft
Courtesy of MAZDA MOTORS CORP.