If you have a hoist or a pit, use the fill plug. It's so much easier when the car is level in and you are underneath, trust me, I worked at a Mr. Lube for 2 years, I've done about 500 manual transmission fluid change personally. Being underneath it is key as that is how it's designed to be serviced.
The car must be level for it to fill to the proper level (beginning of the fill plug). Once you put in enough it should be trickling out of the drain plug. If you put in too much you will blow your axle seals so be smart, do the research. If you can't get underneath then ask honda when you are there how much it should take maximum, and pour that much in thru the top.