It all depends on how much you value your clear coat and/or hate scratches and swirls.
I try to keep my paint mint, and here is the process I recommend:
1. Heat is your friend. Heat up the emblems with a blow dryer or heat gun.
2. Use dental floss instead of fishing line. Softer material = less scratches.
3. You only have to get a start and then you can pull the emblem off. Don't use the floss more than you have to.
4. Goo-Gone is the best product to get the remaining glue off. But:
5. Make sure the surface is clean and free of sand/dirt before you start rubbing;
6. Use a microfiber towel rather than just a "clean rag".
Even if you follow all these steps, you will still see scratches/swirls when you're done, but they should be minimal. With a simple random orbiting buffer like the Porter Cable 7424 it will literally "buff right out"!
Removed my only remaining badges yesterday and found an even better way to remove the glue that's left behind after you take the badges off:
Using painter's tape, tape a double layer of toilet paper (kitchen towel works too) over the area with the glue. Soak the tp with goo-gone, ad let it sit for about an hour. The goo-gone will soak into the glue. After an hour, you should be able to simply peel the remaining glue off without any rubbing at all!