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Since the police gave him the warning you can't get it "removed". However, you can get a local lawyer to contact the police and send them a letter stating that he has you, the landowner's, permission to visit the property.
The lawyer will phrase it in such a way that the police will contact him and let hi know if they are going to take the position they will enforce the criminal trespass issue and, if so, then the lawyer will discuss your next moves.
While he can come there just based on your telling him he can, he still stands a risk of being arrested. I don't think they could convict him but he would have to go to jail, bond out, pay a lawyer, etc. whereas if you just hire the lawyer to write the letter now the cost would be minimal.
You can read the actual statute (30.05) at http://www.statutes.legis.state.tx.us/Docs/PE/htm/PE.30.htm
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