1995 Ford Ranger Starter Problem, just hear a click

I have a 95 Ford Ranger, and when I turn the ignition, all I get is a clicking noise. I've checked cables, they seem fine, battery seems fine. It looks like there's a Solenoid Switch? On the right side of the vehicle near the firewall, I put a screwdriver on it between the two posts and it still gives just a click. I'm assuming this means the starter is bad? My real question is this, How do I replace the starter? It looks like it's under neath the engine, or toward the bottom. Is it easier to come up through underneath, or down through the top? Do I have to remove anything else to get to it? I'm kind of lost on this vehicle