On the front legs you should be able to pick or flake them down. They'll get easier as you get closer to the leg (I take them off in a couple of layers). Hind legs can be more problematic since they tend to be harder and nipping them is usually easier. Ergots on mine get so long and hard they have to be nipped, although I have cut them off with my pocket knife.
I dislike wetting or oiling them for removal, because I find it easier to reduce them when they are not so soft and mushy.