You could use a paint remover like Citrix (non-toxic), protect your floors with painter's tape, just follow directions on the container.
Here's a good video tutorial: https://www.youtube.com/watch?v=oR20LbydCYo
I agree with Debbie. It doesn't matter how long the paint has been there... paint thinner should work. They sell it at Walmart and hardware stores.
You can sand it off. You could also use paint thinner - theres an orange citrus brand that works well.
If you're trying to get a couple of splatters off, I would use a little bit of mineral spirits and a sharp scraper utility knife blade to scratch it off.
If you're trying to remove all of the paint, I recommend citristrip, fine steel wool and mineral spirits. This same method would apply. https://www.arayofsunlight.com/remove-paint-from-wood-furniture/