I was waiting to see what others would say about this.  That happens all the time and is not a problem.  They just keep dirt out of the joint.  To replace it just remove the carter key and loosen the nut to the top of the threads.  You should use a tie rod knocker but may be able to just lay a hammer on top of the pin and hit hard.  Also you can hit the side of the pitman arm where the pin goes thru.and it will help.  To get a dust cover I would go to a frt in shop and ask if they have an old one to give you.  I have never seen or heard of anyone replacing these boots.  Just keep greasing often.  MOHO