Right-click on your taskbar and select Toolbars->Serious Samurize. To remove the "Serious SamurizevX.XX" text, make sure your taskbar is unlocked, right-click the text and deselect "Show Title". To load a config in the taskbar, right-click in the space that the Samurize toolbar is occupying and go from there.

To remove/hide the toolbar, unlock your taskbar, right-click on it and deselect Toolbars->Serious Samurize.

Note: there is a known bug with undocking the taskbar client from the taskbar; read this FAQ for a workaround.