Hey thanks, I figured it out. All you have to do is unscrew the 2 screw's on the side of the steering wheel, and the top part of the cover comes right off. Then on the back righthand side you will see a while plug, it's a small one and all you have to do is unplug it. That's it
Now you can leave your driver side door open and have your music playing without that annoying ass beeping noise. The only drawback is you might lock yourself out of the car, but this shouldn't be a problem if you lock your car with the remote key thing.