Twist/rotate your heel outward.

Be aware that as your cleats wear, it will become more and more difficult to clip out. This is also non-negotiable, at least with Shimano. Often it's a very good idea to install new cleats.

New cleats- the easiest to get out of are the multi-release type. But the majority of riders and those with clipless experience use the single-release type, which are more secure and don't clip out inadvertantly.