I have a similar answer to @burnedfaceless that I came upon somewhat by accident. Since I was not comfortable removing a service that came with the system (Pop!_OS 20.04), I ran
systemctl stop cups-browsed
I then manually searched for and added the printer via Settings > Printers > Add...
At that point I was able to print normally, and only the one, manually-added, instance of my printer was visible. To test this further, I rebooted, expecting cups-browsed to restart itself (it did) and a second instance of the same printer to appear via the cups-browsed service (it did not, happily). So far so good. I am not sure why cups-browsed did not automatically add its own instance of the printer, but glad it did not.
One difference I have noted since doing this is that if I run:
scheduler is running
system default destination: <short printer name>
device for <short printer name>: dnssd://<full url-encoded printer name>._ipp._tcp.local/?uuid=e...
If I recall correctly, the device URI was
implicitclass://<printer name>, or something like that, when cups-browsed added it. Now it is
dnssd://.... Perhaps this makes sense to someone who understands CUPS and/or systemd much better than I do.