I removed mine, as well as the yellow warning stickers on the dash. I found the heat gun helped a little but parking it in the sun on a hot day would be as effective. It took awhile to get all the goo off using plastic scrapers and then I think I used methyl alcohol (brake cleaner) to get the remaining haze off. I was nervous about damaging the finish, but it seems to be ok. GooGone did not work all that well, nor did wd-40. Acetone might work. I proceeded to harsher solvents as my patience wore thin.
It did require a waxing before you could no longer see where the badge had been. It's also hard to get the badge off without breaking it. If you ever want to put them back, you'd be better off buying new ones as I assume they come with the adhesive.
If you can get your hands on plastic razor blades which I've heard people talk about, then that would help a lot. Might be able to find them at a body shop supply place.
In my opinion it looks much better without the badges. but you will feel less royal.