I have three other people living with me and no one is on a contract yet including myself but I have talked with my landlord and he will create a contract with me once I have gotten them out. However an officer in my town says that they have squatters rights how do I get them out since this is the only place I have to call home.

Your landlord (or possibly you) needs to send them an eviction notice and then if they do not leave he has to go to court and have them evicted through the court. If they still do not leave the sheriff or constable will come and make them leave. You or your landlord can not simply say get out.