I don't know what you are talking about with glue. When I look up the part in the acura catalogue, it also lists a nut. If its' glued, I'm not sure why they felt the need to put two holes in the bumper. There is a different part number for the '02+ cars though, so maybe that's different.
I could not see a way to do this without removing the bumper because (on my '92 anyway) the styrofoam impact absorber backed right up to where it screws in it so there are no access holes to it from below.
I would recommend taking the bumper off either way. That is relatively simple, and then even if yours (for some inexplicable reason) uses glue only, you can just push it off from below after heating it and not worry about marring the paint.