Having been the victim of hornet/wasps a few times I no longer take a chance. Wait until the coldest part of the day , usually very early in the morning, at which time nearly all of them will be in the nest or hive, Then use the foaming wasp spray that shoots a stream a long distance, and soak it thoroughly. Then simply leave it alone and check the next morning , if any remain give it another shot.
Remember there may be many small nests scattered through out your yard.Try to identify the locations first.
The stings or bites are really painful and take a long long time to heal up, and while you hate to have to kill the , Its either them or me and I'm the one who pays the mortgage !!