Ok.
Any chemical you use to remove the lettering is going to remove the sheen on the outside of the pipe.....it is just the way it is. Currently, the sheen allow you to wipe clean the pipe. If you remove it, it will be much harder to keep clean. FYI.
You can of course paint it perhaps white with a nice appliance epoxy paint, or gray to match your pad....cool idea
Does your dog really wipe its mouth off?