If you have a PDF that asks for a password every time, and you know that password, you can save a copy without it. This is for documents you legitimately own — not for bypassing protection on files you don't have access to.

Removing a known password

With the correct password, a tool can open the file and save an unprotected copy. You must know the password — this isn't password cracking.

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The ethical and practical line

Removing protection you don't have the password for isn't something legitimate tools do, and attempting it on documents you don't own may be unlawful. This is purely for convenience on your own files.