I see yours is an old post. The studs stay. On most cars the factory just hold the rotors on with "push nuts" which look like washers. They unthread like nuts. The you may have to whack the rotor off. I suggest putting a block of wood against the rotor as your whacking surface. 11/13 UPDATE, I just put my winter tires on. It appears on the Base and AWD the rotors on these are held on with the center drive axle nut. Before tackling the job, I would go to a Toyota shop and ask first.
2005 AWD PlatinumAlloys, Moon & TunesPower group...just enough to be fun