I don't fool with the "access" cover on the floor. I use a socket, a universal joint, a long extension and a ratchet to loosen the cap from above, then scratch up my hand and arm to remove the cap. You may be able to find an old eight-sided socket the right size to fit your square cap, or a twelve-point socket. Then I use a long "Zep" funnel that I keep dedicated to brake fluid and brake fluid only.
When you replace the cap, remember that it does not hold the wheels on - it only needs to hold itself, it doesn't need to be as tight as you can get it. BW