As the other commenter said, the more convenient method is to hold the phone upside-down and pull it out.

The less portable method, assuming you have a phone sufficiently smaller than your hand and sufficient pull, is to pull the cord out using some of the non-opposable digits that are located near the phone bottom when it's right-side up.

I usually opt for the former, but the latter is much more feasible than I would have expected (IME USB-C is not that hard to tug out, by mistake or otherwise, though it's still better than microUSB B).

It’s not super convenient, but I do it this way: press the phone to the ball of my palm with the middle, ring and little finger and use the thumb and the index finger to pull the cable out. The trickiest part is the positioning of the phone in the palm, because that pulling motion has a very limited range.

And unless your phone has the charging port at the top, you're now holding it upside down.