I have cut and pulled all those plants with out ever having any problems. Also the Asclepias are so toxic that it could poison honey that the bees were feeding on. But still no problems untill I pulled and cut down a Hardy Euphorbia Myrsinites, "Myrtle Spurge" and give to a friend. Washed hands a hour later but then rubbed my eyes. Holy crap on a stick, my eyes burned. Washed out with 'Head n' Shoulders' and was ok. It works on poison ivy also for me. Guess I was lucky.
Stush