On the server(s) (that aren’t terminal servers), open the Terminal Services Configuration MMC from Start Menu; open the properties of the Rdp-tcp protocol. On one of the tabs there , probably “Client Settings”, you can define which client devices are mapped when an RDP client connects. You can uncheck the printer connection there and won’t be bothered ever again with the event id.
You could apply a GPO to disable printer mapping to the servers you do not want to map printers to and apply the GPO to the said servers only. This GPO setting is located under Computer Config, Admin Templates, Windows Components, Terminal Service, Client/Server data redirection. The Setting itself is called “Do not allow client printer redirection, and set it to enabled.