Front/Rear pad replacement - '98 VFR

I got my front wheel/tire off as it seems to have developed a leak sitting this winter. I notice the pads are getting a bit worn (they are original ~12k miles) so it seems I can easily replace those.
Should I replace them when the wheel is back on the bike?

Also, can I easily replace the rear pads while the rotor is attached to the bike?
(The service manual seems to indicate yes).

I may bleed the brakes also but the service manual seems to indicate a complicated process.
On my old (non-linked) bikes I was able to do this rather easily (suck out fluid, add new fluid, open valve, press lever, hold, tighten valve, release lever, repeat.)

Thoughts?

 

I say do it with the wheels on. I just replaced all 3 rotors worth of pads in about 30 min. And it was my first time. They literally slide right out, compress the pistons, then slid the new ones back in.