Removing security to print a signed document

I have created a secured form (printing disabled), with a digital signature field.
Is there a way, once I receive the form back from the user, for me (creator of the form) to disable the security so I can print the completed form? I tried to do this, but it says that since the form has been signed, the security can't be removed.

What purpose was served by restricting the printing? In most cases, I would not sign a legal document that I could not print.
If you did not use DRM, there are many utilities that will remove password protection from pdf files. However, that will probably invalidate the signature. Your best bet might be a screen capture.

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