Is there any way to remove a few dermatofibromas on my calves and things without leaving a scar just as bad?

There is no way to remove a dermatofibroma (which is a scar) without leaving another scar in its place.  Typically they are longer than the dot/spot of the DF. I suggest you see an expert.  Laser can be used after excision to improve the cosmetic outcome.  Dr. Emer.

Absolutely! Treatment options depend on the appearance of the scars and your skin type. Resurfacing lasers, fractionated CO2, and IPL are great devices to treat scars but are not safe to use on all skin types. I recommend you follow with a well-experienced and highly trained provider such as a board certified dermatologist to assure that you are getting appropriate treatment.