Yes Shawn you certainly can remove the whole roof rack. I'm assuming you bought the car new. If that is the case, you should have also gotten 4 flat black panels (2 for each side) that fit in the holes where the roof rack is attached. It is a very simple quick switch to make. If you did not get these I would go back to the dealer and tell them you want them.
Personally, I think the roof rack looks good since it has such a low profile. But everyone has different tastes and they are noisy at highway speeds. Let us know what you find out from your dealer.