No need to remove it, I never have since I've been cleaning them. Besides, it takes more time and there is a chance of stripping out one of the bolt holes threaded into the aluminum intake manifold.
As the directions on the can of throttle body cleaner will say, start the engine and while holding the rpms up a tad to prevent the engine from stalling from the cleaner, start spraying. What you can also do is open the throttle up a bit and spray until the engine dies, then let the cleaner "cook" a few minutes to better disolve all the gunk. While waiting, wipe the back of the butterfly valve plate with a rag with cleaner to clean it. Try too when the engine is running to spray several bursts of the cleaner into the slot on top of the butterfly valve plate while the engine is at or as close to idle as possible. That slot is the air intake for the IAC (idle air controller) which only suck in air at idle. That will clean the IAC more effectively. The IAC is responsible for providing all of the engine's air at idle so when it is dirty or stuck from being dirty, bad or poor idle is the result.