WordPress will only create those pages if more posts exist that aren’t displaying on the first page. Without the pagination, how will visitors see those additional posts?
If there are more posts to display, the pages will remain. WordPress does this automatically. I’m not sure if it’s possible to disable pagination completely, as those other posts would no longer be reachable.
I don’t believe it’s possible to disable pagination if you have multiple pages of posts. You could up your posts per page option in “Settings > Reading”, but that will show more posts on the first page.