Since this service isn't required for printing using Terminal Server, I tried to avoid process creation in some ways:
1) Deleting services
2) Disabling services
3) Removing permission to HPBoid.exe for Local System Account
But nothing works....
I also read this post http://forums1.itrc.hp.com/service/forums/questionanswer.do?threadId=370850&admit=-682735245+1190810782857+28353475 but the solution was still far away.
I thought I need to understand better when and how it start the process. After analyzing the behaviour on some server I notice the process was started for only some printer drivers and for all these drivers I found the following values into this registry key: HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\Print\Environments\Windows NT x86\Drivers\Version-3\
The solution was to manually remove this entries from Windows Registry for each drivers.