1) comply with what it is telling you and it will stop telling you
2) remove it from the startup

Check out a program like this --- http://www.nirmaltv.com/2009/01/19/startup-manager-for-windows/

It will show you all the programs that are starting up when the machine boots and allow you to remove or disable some of them. There will be a lot of them, many of them are fine but you'll see the ones for HP and you can disable them.