I wouldn't kill the mud daubers. Those are the ones that make the mud tunnels, and they aren't aggressive, nor do they defend their nests. Leave 'em alone, they eat caterpillars and pollinate things. If you must remove them, you don't need a poison. Just get a chisel, hammer, or whatnot, and knock the nest off.
For the paper wasps, all you gotta do is wait until all the adults are gone off the fresh nest, pull it down, and throw it away. Those small nests only have a few adults at a time, and you can just wait for those adults to be busy elsewhere. And even them, unless they're in a high-traffic area, I'm inclined to leave alone. Paper wasps aren't too aggressive.
Agree, we had a few paper wasp nests in an abandoned vehicle on the property, my little niece (5) and I would watch them for hours, up close, just feet away from the nest. And they will eat less desirable bugs... bees, wasps, mud wasps are all ok in my books, but not yellow jackets!
