Select any of the three components by clicking on it. Now bring up the pop-up menu as before and select the Delete Component command. The selected component will be deleted and will disappear from the model editing area.
Bring up the pop-up menu again and this time select the Undo command. This will restore the component that you just deleted. You can almost always use the Undo command to reverse a change you made to the model. On the rare occasions that Undo is not available the Undo command will be made insensitive and will be greyed out on the menu.