I agree with Edley on using alloy knockoffs. I have used Trigo units for a few years, installing and removing several times with a soft lead hammer and have inflicted zero marks or deformation on the knockoffs. I'll take the unsprung weight savings...
I always remove my wheels every few months to clean old anti seize around the mating surfaces, pins and hub threads and treat them to new compound. You haven't lived until you have had a knockoff seize into a hub.......
Would advise against using a rubber mallet. Too much danger of undertightening, IMHO. Also, its a good idea when you initially remove and then tighten your knockoffs to make sure your wheels are always stationary so that your bearings aren't absorbing the hammer blows. I have seen cars on lifts with someone smacking a knockoff and I gotta tell ya, it makes me wince.
Bud