You will find that the WinJUPOS software (downloadable for free) nicely predicts their positions, with both ephemerides and graphics. You must first specify which solar system object you want, then select ephemerides. You can set any time, with subdivisions of minutes even, if you wish.
The graphics also show the Martian albedo features quite well, though the base map is out of date.
JPL Horizons gives detailed ephemerides for essentially everything known in the Solar system. I use it for inner moons of the planets. For outer moons of JSUN and asteroids MPC is used.