Yes there is one on each of the rear wheels.

 

I just did the rear rotors and pads on my 2007 1500. On the drivers side, looking over the top of the rotor, remove the oval shaped black rubber plug, insert a medium flat screwdriver, angle the screwdriver up towards the top of the rotor. In other words, handle down and lift up. This will loosen the parking brake pads. The passenger side is the opposite.
If this does not make sense, turn the parking brake adjustment about 6 spins and then try removing the rotor. If it is even tighter, no play at all, spin it back the other way 12 times and it should now come off. Not a hard job just a little annoying.

 

What socket/wrench size do you use to remove caliper bracket?

 

Just changed back rotors and pads on my ram 1500, thanks for all the advice, finally got the back ones off after a few tries and coming in and seeing the comments and tips