With the calipers still mounted on the rotors you are replacing, simply put a large screwdriver or prying tool thru the access hole in the top/back of the calipers, inserted into the space in the middle of the rotor and pull the handle of the tool toward you. That will slightly compress the piston and give you enough slack to readily remove the caliper and re-install your used brake pads on the new rotor.
If replacing the pads too, put an old one over the piston and use a c-clamp positioned over the pad / piston and on the back of the caliper over the piston chamber and slowly tighten it enough to push the piston back into the caliper.
You do not and even should not remove the cap on the reservoir when doing this. And be sure to depress your brake pedal when one side is put back together and before you compress the other side, if you don't you'll wind up overflowing the reservoir.
On top of all that, you're doing all the work already, do it right and put new pads on too. Go to rockauto.com and save a lot of money and pick from a wide range of pricing options so you can do the job right, far cheaper than you can get parts from your local chain store.