The beeping on new systems can be really annoying, but it is easy to disable.

For system-wide changes, open /etc/inputrc and add the following option:

set bell-style none

Without those permissions, you can add it to the home directory of your user in ~/.inputrc and add the above mentioned option.

Finally, start a new session and the beeping should be gone.

Alternative

NOT TESTED YET

Open /etc/modprobe.d/blacklist.conf and add blacklist pcspkr.