sudo apt remove wpasupplicant
Will remove it, make sure it use apt purge wpasupplicant after. You can always type sudo apt remove wpa then press TAB to autocomplete any possibilities (might have to TAB twice).
I mention the TAB completion because on my system I also have wpa-sycophant, which you might also have and not need.
As far as whether or not you should, it is only for Wi-Fi, technically it is for the Authentication method within WiFi IEEE 802.11 so I guess if your not using it, you don't need it. If you want to check exactly what it does you can run man wpa_supplicant and read it's description. You should be able to manage your connections with nmcli. Hope that helps!