Unfortunately, it looks like you won't be able to actually remove them from your iPhone, only your home screen. According to The Verge:
"Apple software chief Craig Federighi clarified that iOS 10 doesn't fully remove built-in apps. It removes the home screen icon, user data, and some behind-the-scenes stuff that adds links to each app, but the core of the removed app remains on the phone. That means if you want to reinstall the app, you might not need to download anything — you should just be able to tap the "Get" button in the App Store and have it appear."
In any case, here are the steps from Apple to remove the stock apps:
"Remove a built-in app from your Home screen
1. Touch and hold the app until it jiggles.
2. Tap Remove on the app, then tap Remove.
3. Press the Home button to finish."