Under the arms on all four doors, there are two large Phillips screws. They are hidden out of sight up in holes like the one pictured. Making sure to properly seat the screwdriver in the head, as to not strip the screw, loosen these screws.

There is no need to remove the screws from the holes in the arm; in fact, doing so will make it more difficult to re-install them. Just loosen them enough to remove the arms from the panels.