You can absolutely ignore it, even without switching inputs; it appears above the menu/input bar at the bottom and isn't modal.
However, it reappears every time the TV is turned on. At some point, a houseguest (assuming those are a thing at some point in the future) is going to hit "okay", or I'm going to do so accidentally while fumbling with the remote, and that isn't the same thing as actual/deliberate consent from me, the owner of the device.
