Disable the do not disturb banner on iOS 13 notification centre
There is no way. 

When you swipe right on most notifications, there are the three options Manage, View, and Clear/Clear All. Manage is the one we are worried about, as it can permanently stop notifications. 

Swiping right on the Do Not Disturb notification, though, only reveals two options, View and Clear. This shows there is no way to permanently disable it.