Remove any solid buildup of concrete on the pavers with a chisel and hammer. Place the chisel tip at the base of the concrete, angled so that the chisel passes along the surface of the paver and not into the paver. Strike the head lightly with the hammer, moving the chisel along the paver surface, chopping away the concrete from the paver.
Switch to a wire brush and scrub the surface of the paver to remove any remaining concrete particles. Use a vigorous circular motion to break the concrete free until all that remains is a thin white dusting of the material. Wipe the surface of the paver clean with warm water and a sponge.
Dampen a clean rag with mineral spirits and then wipe the surface of the pavers with the rag to soak the pavers. Leave the mineral spirits in place for 30 seconds to penetrate any remaining residue on the pavers.
Scrub the pavers with the damp rag using the same circular motion used with the wire brush to remove the last of the concrete residue from the paver. Scrub until no trace of the concrete remains.
Rinse the surface with the water-dampened sponge again to remove any residue, and then allow the pavers to dry completely.