My "Boxster S" door lettering was easily removed with the wife's hair dryer to soften it up and just the edge of a fingernail to remove. It was a 2013 I picked up this March and there's no residue left over. Much cleaner look as I didn't care much for this option the original owner must have checked.
Depends on the color and age of the car there might be slight color differences due to fading. You also might need a slight polish, just a microfiber towel and some Mcguire polish from autozone. But yeah, you should be able to remove it no problem