They are all pretty much the same as far as removal, just which is easiest to execute.
Method 1 - From the app drawer, long press the app. It will go to the home screen to place it, but if you drag to the top of the screen there is a "Remove" option (unless it is a pre-installed app). Drop it on the Remove and it will be uninstalled.
Method 2 - Go to Settings - Apps - All - Find your App - Uninstall
Method 3 - Open the Market, find the app, Uninstall.