You can remove them by first rooting your phone and then Deodexing them. This will create APKs of all the preinstalled apps and you can then remove them by deleting those APKs
My advice is don't. Leave them alone and hide them with an alternative launcher like Launcher Pro. As mentioned above, if you remove them it could break verification of the OTA update from your carrier and then you may have to wipe your phone completely to get the OTA update. Not worth the hassle in my opinion.