Is there anything I can do to make it easier to remove plugs from receptacles?
This will depend in part on where you are in the world. Sockets in the UK can be very tight when new, but if you open them up you can often loosen the metal contacts so they don't grip the plug as tightly. I would imagine sockets in other countries will also have similar adjustments possible. 

Make sure you turn off current at the breaker/fuse box first!

In general, though, I wouldn't advise doing this as it does increase the risk that you will get a bad electrical connection, which could lead to arcing and fire. This is still a low risk, so don't panic, but in general repeated plugging-in and removal will loosen and weaken the socket over time.

I do not unplug appliances in my kitchen, but just turn them off with the switches, which are designed for repeated use.