These are the instructions:

S2000 Door Panel Removal

1. Pull the inner door latch handle and remove the phillips screw behind it.

2. Using a small flat-tip screwdriver with take over the end, pry loose the door latch surround case. Once loose, turn it slightly and it will slip over the handle and off.

3. Using the same screwdriver pop off the caps at both ends of the inner door grip. Remove the phillips screw behind each cap. When done, do not attempt to remove the grip as it stays attached to the door panel.

4. Using a proper trim removal tool, pop the six hidden white clips holding the door panel in place. I used an inexpensive trim tool I already had (about $2) designed to remove GM trim clips, I think. It was a K-D No. 431. It worked great with no damage to any clips.

5. The final clip, a black visable one in the corner near the outside mirror, popped off on it

 

So you have removed the panels before? I don't seem to see the step where you remove the screw behind the door opening handle. Anyway, the door grip does not come off since it's attached by 2 screws from the inside of the door panel.

The reason why the door grip feels like it's going to fall off is because it screws into plastic pieces, so once removed, the integrity of the plastic is compromised once you want to securely put the screw back. I too have a loose screw in the back of the door panel to the door grip. It's all solved though, when I put the 2 screws (from the visible side of the panel with the 2 caps) in after re-installment. These screws go into metal pieces. If it's still loose, then you mistakenly used the original screws in something else. I did that once and it was hassle to find the original screw.

 

Here is a picture of the screws, from the back side:

https://www.s2ki.com/forums/index.php?showt...post&p=18712806

Big screws hold the grip onto the door, the small screws hold the grip onto the door panel (and attach from the rear, as shown in the photo).