Ok I'll assume that the 93 & 94 are the same and you have the orange topped dipstick at the front LH of the engine.
It's best to put car on axle stands as you need to get under engine.
Once underneath there should be a nut / hex head at the back left of the gearbox, this is the drain plug, remove and collect oil
in appropriate container.
Replace plug securely and drop car to level ground
Refill through the dipstick tube, akward to get to but ok using a funnel.
note: allow plenty of time for oil
to seep into box and check levels with engine running as the torque converter oly fully fills when spinning.
grade : Dexron type ATF
Total capacity : 5.7 litres.
The haynes manual refers to a 4spd box whereas the early Clios were a 3spd hence the poor instructions.