I have the same problem. I did read (here, on this forum) that the resistance of the dash indicator bulb is part of the system self-test, so it was not advised to remove it.
In my case, the cost of replacing sensor(s) was not worth the benefit, for me, since the car is never driven in winter conditions, and almost as less likely to be caught in a rainstorm panic-stop at high speed. In short, the brakes work fine without it, in my case.
My first fix was to tape over the indicator area on the outside of the cluster with a piece of black electric tape. But even cut perfectly, it bothered me to look at it. Second fix was to tape over the bulb, but the heat melted the tape and let light through anyway. My final fix was to remove the bulb socket entirely from the dash cluster and plug the hole with a bit of black foam, so no light would get through. It shines inside the dash cavity now.
If I ever spy a sensor(s) at a junkyard, I'll try replacing mine.

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1986 560SL
2002 Toyota Camry
1993 Lexus