"The desktop printer extension is incompatible with Mac OS 8.6. It may cause your computer to freeze when starting up."
This article explains the message in more detail.
To remove the extension:
2. Once the desktop appears, open the System Folder
3. Find the Desktop Printing extension file within the Extensions folder and remove the file
4. Restart your Macintosh
For additional information on this topic, refer to article 30791: "Mac OS 8.5: Desktop Printer Extension File Is Incompatible".