Unfortunately, there is no way. You use the platform for free, and the user agreement you accepted when creating an account there states that the platform has the right to place ads. The platform can exist either if you pay for its use directly (subscription) or if it receives financial benefits from advertising. However, there is still a way out. You can host video files on your own server and use a custom web player to display your videos on web pages without using YouTube. Also, you could transfer your library to Vimeo, but this is a paid service.