When was this, I just had to call them a few days ago when I decided to give the game another shot after giving up on the Sand Demon (Jedi Sentinel Class Boss). I combed through the My SWTOR pages and couldn't find anything for removing it without calling.

Keep in mind with the security key app, though it's free, if your smart phone stops working, you flash a ROM*, or you upgrade your phone, you have to call Bioware and sit on hold for an hour to have the key removed or transferred to another device. * I can't remember if I had the authenticator before or after I switched to CyanogenMod on my last phone.