Hind sight is always 20/20, but I put mine on the back window glass. A flat razer blade scraper can be used on glass to remove stickers and such.
You may also find once you remove the sticker, the paint on the camper will not be the same, and you'll have an outline with a slight off-color from the rest of the camper.
If all you want to do is get rid of the sticker, you can always get another sticker and slap it on top of it.
If you want to remove the sticker, chances are you will always have a paint color variance.