I have removed those stickers when they are on the sunvisor, but that was on a different car with vinyl-like sunvisor covering. I am afraid to try and remove them from the visors in my 720S. I might just get flat black tape to cover them.
I would remove it and not even think twice. Who wants to look at an ugly yellow warning label for years when you have lovely Alcantara underneath. A sticker shouldn't be the eye grabber of your interior.