Instructions I've seen elsewhere were to drain, fill with distilled water, start engine, turn off, drain, then fill with proper mix.
As long as the lower radiator hose is the lowest point, you will probably get most of the coolant out via the petcock on the radiator if it has one.
Don't get too worked up about getting "all" of it out IMO. Without removing the engine, and removing every bolt and accessory, then rotating the engine around (as anyone who has pulled a motor will tell you) there WILL be old coolant left. But with the proper fluid mixture and scheduled fluid changes, that remainder will be well diluted on refill.
I drain mine into gallon jugs, which gives me a good idea of what came out vs. what the stated coolant capacity is. Minus what invariably ends up spilling all over the place lol.