You can not remove from your bookshelf, the only choice you have is to unpublish it.
Go to your Bookshelf on your Amazon KDP account and find the book you want to unpublish.
On the right hand side of your book click the ellipsis (...) and pick "Unpublish print book".
A pop up will appear that says: "By confirming, you will be unpublishing this book. We'll stop printing copies of your paperback to fulfill customer orders. Third parties may still sell copies of your paperback on Amazon. That means your paperback's detail page will stay live on the website".
Press "Unpublish" and you are done.