+1
Solvents like acetone will dissolve it, but it's hard to get it any better than 'well smeared.'
PVC pipe in general is not made to be viewed, so the manufacturers don't worry about the print. As Jimmy said, you could scrape, sand or polish it off, but the best way to get a nice, uniform look with your pipes is to paint it with something like Krylon Fusion paint.
Note that you should do this after you glue your joints, not before!