Household detergent works wonders for people who tear off trademarks and leave glue stains.
If you don't want to destroy the surface, you can also try the sketchpad eraser. The kind that erases pencil words.
Never use a pen eraser, because it contains sand and will wear the surface.
You can also try some other solvent-based liquids.
For example: essential oil, alcohol, turpentine, etc.