I don't know the config file for the KDE daemon (left window), but the suseplugger is configured via ~/.kde/share/config/susepluggerrc. Remove/change the entry that defines the AudioCD handling (set doAsk=true).
Have a look at medianotifierrc in the same directory. I guess that this is for the KDE daemon. Remove the entry in [Auto Actions].
BTW: Make backups of these files first!