GPIO is an application which loads a driver on your computer's startup. If you don't know about this application or don't use it for any specific purpose, then you can disable it. Go to Start > Run and type msconfig. Select Startup tab and deselect everything that is related to GPIO. Alternatively, go to Start > Run and type services.msc, locate the service and stop it. Next time the computer is restarted, the pop up will not bother you anymore.