"The court must release them, we want to deal with them. There is no death penalty. We therefore want to kill them because there is no better sentence for them except death," said protester Mpho Masemola, holding an ANC Youth League banner.
He said children were not safe because of criminals.
"If police will shoot to kill then we must kill to defend and protect innocent children."
Singing liberation songs, residents waved placards calling for the court not to grant the five bail.
The five were arrested for the murder of Masego Kgomo whose decomposed body was found in the veld in the area. She went missing on New Years Eve.
Traditional healers joined the protest and waved placards with messages that true healers do not kill.
A sangoma was arrested but was later released because there was not enough evidence to link her to the charge.
The five, including a 14-year-old boy, were due to appear in court later in the afternoon to plead.
The Tshwane metro police monitored the situation outside the court.