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Most skin warts are benign in dogs. If you ignore them, they may get a little bigger, but they shouldn't spread or metastasize anywhere.
If you want to get rid of it for aesthetic reasons, then I would probably just use a local anesthetic and have it removed. This can also be done under general anesthesia if the dog doesn't tolerate the local well. I would always biopsy a mass after it's removed to make sure there are no abnormal or cancerous cells.
I hope this helps, let me know if you have any other questions.