Uninstall Parallels 4 leaves launchd

I followed the instructions to uninstall parallels 4 on this page: http://kb.parallels.com/5714

Now when I rebooted, I get an error message:

How do I clean up the launchd process so it doesn't try to do this startup?

There is still a folder named ParallelsDesktopTransporter in /Library/StartupItems. I expect I should remove it also, but I am hoping to learn more first.

Thanks, Beth