Use a hair dryer. Heat one letter at a time. Dont heat it to much. The heat will make the glue soft and it will help in removing the sticker much more easily. Use your nails to just remove the sticker then. You can also use a razor blade(treat blade) to remove, it is soft and is very thin and wont scratch the paint if you use it carefully. Use an apc or a diluted shampoo solution as a lubrication if needed.
I used the treat blade plus lubrication from a shampoo solution to remove the white lettering from my cars windscreen.
After removal just simply give a coat of wax for protection.
Using a hair dryer is crucial as it helps the adhesive remove and not stick to the paint.