I don't think you really can. I can think of 3 options. Depending on where you live and if the rose is still dormant, you could dig up the rose and basically bareroot it [take the soil off], get rid of the yucca roots, and replant it. You could faithfully cut off any Yucca sprout when it comes up for as long as that takes. Or, when a sprout comes up, you could take a plant brush and paint a weed killer like Round-up on it. Make sure it is a product you can use around other plants and that you read and follow the directions on the label carefully.