I would like to remove the text
"To sign up to receive our emails, fill in the following fields and hit submit. Thanks, and welcome!" and include the sign up form on a registration page that has different text to prompt them to register for our program.
If I've understood correctly you're looking to remove or change the default text that comes with the creation of a new signup form. You can edit or remove that text as you please by opening your signup form and making those desired changes within the signup form editor. Here's a link to our Resource Center article that you can use a guide on customizing your signup form :)