Here's what I do. Under the best of circumstances you have two people. Then...
...after you make your helper put his beer down, you approach the chicken with one person holding a dinner plate or serving platter. The second brave soul has wadded up paper towels, four or five in each hand, and uses them to pick up the chicken, one wad under each wing, pressed up against it's little ribs. Gently lift the bird (who is understandably irritated, having had a 12 oz. aluminum beer can shoved up it's hiney for the last hour or so), can and all, onto the platter. This should allow the person holding the plate to carry the bird indoors. A large fork can be inserted into the neck cavity and used to steady the whole operation, if necessary.
Once there, one person apologetically lifts the bird up, again using two wads of paper towels, while the other person uses either two more wads of paper towels or a pair of good quality tongs to grasp the can and twist. A good back and forth twist will loosen the can and allow it to be pulled securely downward and out of the indignant bird.
Once the chicken is placed on it's back for carving, try hard not to point the huge, gaping hind end towards anyone you particularily like, or toward any boys, ages 6 to 46, or you're liable to hear some snickering at the least, or some wholly rude, yet metaphorically accurate, comments from them.
Wah lah!
Michael