Uninstall Printer Driver

I bought a new printer that ready to install to my PC. Everytime I request to print a file, it prompt out a message and ask me to select which printer to print. And this is annoying. So, is there any other way that I away from that annoying message prompt out. And if I’m not mistaken that the old printer driver is still inside my OS. So, any other way to uninstall the old printer driver? Thank You.