Try a thin flat blade screwdriver on both sides, expect they are a tube shape in the hole rock the thing from side to side, levering up GENTLY, you do not want to go in deep with the levers. ( A bit of tape or rag where the levers rest on bar will help to protect it)
Have never had a go at roof bars but the roof rack bolts fit in those holes on vans, vans have plastic cr**y screw things that break when you try to remove them, Transit & other make foot well plastic mats screws are hidden by same looking things