You have to remove the rear cover on the differential housing. Once the fluid is all drained, replace cover with new gasket (or use silicone sealer) and refill through 3/8" square plug on the side of the unit.
One other point to this. Replacing the fluid can be a bit tricky. By the time you get yourself, your tools, and your bottle of fluid under the truck it can be a challenge to the fluid in the differential. To ease the problem, get a small section of hose to connect to the spout of the bottle and then run the other end into the differential and squeeze. It is pretty easy and faster.
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