If you are based in he UK and want to consider surgical removal then there is a site seems pretty respectable and trustworthy. The treatment is offered by a Dr  Joshua Berkowitz who seems to specialise in the removal of pearly penile papules.

The treatment involves emitting electrical pulses to the affected area which is a method i have not heard of and Im not sure if its a good way to go. Anyway take a look at the site pearly papules removal by Dr  Joshua Berkowitz. I am in no way affiliated to this site or the service.