Not really no, you can sometimes have a tune written to eliminate it but nothing you can do on your own.
Try this which most likely won't work but is worth trying:
PROCEDURE WITHOUT A SCAN TOOL
If you do not have a scan tool with PATS
programming capability, then you can use
the following procedure. Just insert the
new key into the lock cylinder and turn the
cylinder to the “Run” position. After you
do this, the “Theft” indicator light will
begin to flash. It will take approximately 15
minutes for the light to stop flashing.
Within 5 minutes after the light has
stopped flashing, Turn the ignition switch
to the “Off” position for one second, and
then back to the “Run” position. After
doing this, the “Theft” indicator light will
begin flashing again for another 15
minutes. When the light stops flashing for
the second time, turn the key to the “Off’
position for one second, and then back to
the “On” position for the third and final
time. The “Theft” light will flash for
another 15 minutes. After the third time,
which will be approximately 45 minutes
from the start of the process, the PATS
control module will have erased any of the
keys that were programmed into its
memory, while programming the new key
that you have just used into its memory.
This key will now start the car. Any
additional keys can now be programmed
using the Spare Key Programming
If that does not work then you have to have the dealer or a locksmith for instance program it for you.
And by the way that dealer is incorrect, they just don't seem to want to do it.