You should remove it because it can and will affect the quality of future prints. Residue can mix up with new filament and create a ugly of colors and also prevent adhesion in places, thus potentially ruining your next print.
You have several solutions to clean up the bed:
I have had moderate success with a product called Goo Gone (don't laugh). It quite remarkably lifts off any number of "sticky" items from various surfaces.
I work with PLA filament that is very hard and stubborn to remove from any surface.
I own a FlashForge Adventurer 3 that appears to have a carbon fiber build plate. Nothing, except a #11 XActo blade, can harm that.