I've never done a '02, but on my Evo Dyna, I remove the master cyl. cover and push hard on the caliper to get the pins in a little.
Then remove the two caliper bolts and lift the caliper, remove retainer, then lift the pads out. Then I gently push the brake pedal so the piston comes out a little. Soak a shoelace, or twist a rag into a thin strip, soak with brake clean and thoroughly clean the crud off the piston, then push piston all the way back in (patience, it's slow & stiff). Reverse for reassembly. Don't twist the caliper or hose any more than necessary while working with it.