I just memorized them. They follow the same pattern though - the values for sin going from 0-90 degrees is opposite of the values for cos going 0-90. If you can remember one, you can figure out the other. I find it's also helpful to memorize the decimal values and know what sqrt(2) and sqrt(3) equals.
Maybe it's easier to visualize a graph? A sin graph starts at zero while a cos graph starts at 1. That means that sin(0)=sqrt(0)/2=0 and cos(0)=sqrt(4)/2=1. Then the numbers under the sqrt just go 0, 1, 2, 3, 4 as you go from 0 to 90 degrees for sin and 4, 3, 2, 1, 0 for cos. They're always over 2.