The best way is to prevent it by an epoxy coating. Too late for that!
Try a detergent cleaner like Dawn first. Then do a poultice of 1/2 baking soda and 1/2 baby powder moistened with acetone into a paste. Cover the stain, and then with plastic and tape in place.
Do NOT use muriatic acid. First of all, it's extremely dangerous to handle without the proper personal protective equipment. It eats holes in things, and will etch your concrete. Etching isn't cleaning. It's tons of microscopic holes that have been eaten into the concrete.
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remember what he said, detergent, NOT soap another method is, again, poultice ( that's mixing up a paste if you're not aware of the definition ) of vm&p naptha + diatomaceous earth ( fuller's earth ) which you can pick up from any apron/vest & swimming pool co respectively