How can I achieve this?

 

I had the Toyota tech turn mine off when I took my tc in for an oil change. I looked in the manual but I couldn't find instructions. A dealership can do it for you. Did mine free of charge.

 

You can not do by yourself. Need a device called "Techstream" that is connected on your DLC 3 (The terminal that is on tthe drive side, below your steering column), and from there is the option to "costumize" some of the beeps. Any dealer can do this for you and shouldn't charge you anything or almost nothing, since to them will take like 5 mins to do it.