Whether you're juicing a single citrus or several, citrus juicers can be a helpful appliance to have around the kitchen. A KitchenAid Citrus Squeezer has a deep bottom bowl with an integrated spout that catches the juice. Reamers are a bit messier, but they're also the most similar to juicing by hand.
When using a dedicated citrus juicer, you don't need to peel the fruit. All you need to do is slice the citrus fruit in half crosswise. This exposes the flesh inside. Then, simply squeeze out the juice using the juicer as instructed. Regular juicers might not be up to the task, so it's important to choose a model with a larger juice canister.
Another option is a manual citrus juicer. These are inexpensive and easy to clean, but they don't get the best results. The pulp catches some of the juice and can be messy. Plus, manual citrus juicers usually require a lot of elbow grease and aren't dishwasher safe.