This malware pops up every time I open my computer. Is there a way to delete this without paying for a service to clean my computer

There is nothing you need to clean. It's just a web scam.

In Safari, go to the Safari menu and choose Settings. Then click on the Websites tab. Select Notifications. Remove all websites from the list. Make sure that "Allow websites to ask for permission to send notifications" is turned off.

SCAM

Check in Safari Setting >> Website tab

Scroll down to Notifications and / or Pop Up Windows

Any unknown Websites appearing ?

Remove them

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