Changing power steering fluid

What is the best way or most effective way to change out all the power steering fluid or most of it besides pumping it out the resevoir which doesn't seem to remove and substantial amount of fluid. Mine is nice and brown. Would like to change it out to quiet the pump some. Also what is the capicity for the power steering system

According to Haynes you just detach the return line..

Once the pump begins to make noise, a fluid change will not normally help. The Haynes procedure is questionable, if you drain all the fluid, you will need to follow the bleed procedure to eliminate any the air in the system; (the same as installing a new pump) otherwise, you will have erratic steering. You can turn the steering wheel lock to lock several times to purge any air in the system. Best solution would be to install a new pump and follow the fill/bleed procedure.