Whoops, you don't need to take the axle shafts out for your leaks. The bottom of the bolts is the diff cover gasket. Loosen the cover and drain the oil. It will smell. If you've never changed it, it will smell bad. Try not to get it on anything unless you like the heavy oil smell. It will stick to whatever it gets on for days to months. Clean off the gasket on the cover and the housing then use RTV Silicone to replace the gasket.
For the pinion, the driveshaft will need to be disconnected and the pinion yoke removed...