this is how beekeepers do it:
Wear a beekeeping suit while doing this. If you don't have one, wear 3-4 pairs of jeans, a few long sleeve shirts, leather gloves and a misquito net. Basic idea: no skin showing, with clothing thick enough so if you get stung, it won't penetrate your clothing. Beekeeping suits work by not letting the bees grab hold of the suit - its too slick for them. But since you probly don't have one, just wear something plenty thick, or leather.
You want to smoke them out. Bees HATE smoke. Fix yourself something that will burn with maximum smoke and contained in something that you can "poof" out the smoke. I don't have any ideas for this, so you can use your own ingenuity.
Once you have them smoked out, look for what they have been "building" under your steps and remove it to a safe place - away from people. Bees will usually leave when you take their home. OR you can kill the queen bee. Once she's gone, the rest will...buzz off.
This should work for killer bees also, but I really don't know because I've never handled them.