Seems like the mounting screws or threaded bushings in the bracket may be stripped out. It'd be a good idea to deal with that now while you have the wheel and drive off and have access to the whole assembly.
If the bushing is just spinning around in the bore or the screw is totally stripped you may have to just use some force to separate the bracket from the footpeg plate. I think most likely the screw is stripped but you won't know until you get them apart to look. Ain't much holding those two pieces together if the screw just spins, I'd think, but I've never had to deal with this particular issue. There's not enough protrusion on the inside to get vise grips on there...and if memory serves me the bolt head is recessed so drilling it out might not be an option either since the head would probably just spin with the bit. Maybe you just need to throw caution to the wind and pry them apart. Have you tried tapping the screw out from the opposite side with a drift or pick or something of that nature?
I have used the HF tap and die set to fix stripped threads in various other locations tho, and have inserted a helicoil in a bolt hole somewhere -- can't remember exactly where though. The tap and die set is a great thing to have lying around, and relatively cheap.