Just as long as the pistons didn't come out of the calipers you can just pry them back with a flat screwdriver as suggested.
if the pistons didn't pop out then there is no need to bleed the brakes.
You can push the pistons in without taking the cap off the brake cylinder (I do it all the time to the front and back brakes) to avoid a possible mess.
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08 FLTR candy red sunglo,with 2015 103 HO, V&H Dresser Duals with Monster Rounds, Power Vision tuner, Willy Shiny Wheels and Forks and a bunch of other stuff.