Changing Magura HS33 rim brake pads
Yes the recommended way to change pads is open the quick release and remove that side of the brake, then remove the wheel to allow access to the other pad. You can refer to the official HS33 (or similar) manual, pages 21 and 19.

Another way I know of to be able to reach the non-QR side pad (or both sides if running without QRs which is arguably a stiffer setup) is to remove the screws and get it off completely, hereby undoing the adjustments made to get correct pad to rim alignment. Not a huge problem if you're used to setting up Maguras, but it does take a bit of a learning process.