Since you have an 09 you shouldn't have a problem with the paint being faded.
You can use a blow dryer or heat gun and warm up the decal for about 20 seconds, then peal the decal off with your finger. I cant stress enough to only use your fingers and not a metal blade as it will scratch the paint and would be even more likely if the paint was heated up.
After you get the decal off you can pick up some 3M adhesive remover (from Walmart usually) to remove the glue residue, its safe on paint but you might want to spray some quick detailed on the area where the decal was if you have waxed your truck recently.
As far as the bed rails, there stuck on with alot of double sided sticky tape, use the adhesive remover and gently pry the rails up. But another thing you can do is buy a restoration kit, it will basically dye the plastic to a dark, new looking finish. And if your worried about any other trim pieces fading from the sun you can pick up a protectant that will prevent any fading that hasn't already happened. I'd recommend 303 Aerospace Protectant because it's cheap, doesn't leave an oily reside and won't give the plastic a shiny finsh.
Ford Ranger EDGE
Drivetrain: 8.8 LS w/ 4.10's
Exterior Mods: 06+ Emblems
Audio: 500 RMS Kenwood Amp, 10" Kenwood Shallow Sub