Disable “Found New Hardware”

When a user without admin rights plug in a HP laserjet 3150 printer, the see the “Found New Hardware” popup message in the system tray.
The drivers are already installed via a software package I built with Netinstall packaging tool.
The printer shows up on their printer list; however, the found new hardware message appears.

How can I disable this message from appearing when a user without admin rights logon to the workstation. I need to do this without disabling the plug and play service.