man kill will help you out here. Kill is actually slightly mis-named, it doesn't necessarily terminate a process, it sends it a signal of a particular type. A signal is just a way of notifying a running program that something has happened, like an invalid memory access or an interrupted system call or whatever (see kill -l for a list of all signals). Anyhow, to make a very long story short, to send SIGHUP to squid, you would do
kill -HUP <pid of squid>
or, to save yourself from having to look up the PID:
killall -HUP squid
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