I would leave them in and check the water once in a while. Below is a quote from the Trojan Battery website about the freezing point of a fully charged battery..
Can a battery freeze?
The only way that a battery can freeze is if it is left in a state of partial or complete discharged. As the state of charge in a battery decreases, the electrolyte becomes more like water and the freezing temperature increases. The freezing temperature of the electrolyte in a fully charged battery is -92.0oF. At a 40% state of charge, electrolyte will freeze if the temperature reaches approximately 16.0oFlink to Trojan website