If they at one time paid rent, they are tenants and will need to be evicted. The police will take this position and cannot help you.
You might look on the web site of your local court system. Some have helpful info on how to do an eviction. If you do not know how to do the eviction yourself, get a lawyer to do it for you.
Given the apparent inclination these people have to litigate, I would not even talk to them at all. Just go with eviction proceedings.
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