Is there a way to block the Immersive Mode prompt "Swipe down from the top to exit full screen"?

When an app uses Immersive Mode, Android will often issue a large prompt (on a blue background) instructing the user to "Swipe down from the top to exit full screen". Is there a way to prevent Android KitKat from displaying this message? I performed some research, and the only answer I could find involved installing an Xposed Framework module. I would prefer not to install the Xposed Framework. Answers requiring a rooted device are fine (please just specify in your answer whether or not your solution requires root).