This will not remove them from the startup list but will prevent them from running upon startup...
start>run>type "msconfig" then OK
then under "start-up" tab uncheck the items that you no longer wish to start upon a restart, click apply and then you will have to reboot
Upon reboot you will receive a message saying that you have changed the startup, just click "don't show me this again" and there you go
Just make sure to only uncheck the programs you are sure you don't need at startup