For me that didn't work. The red badge on System Preferences disappeared, but it came back the next day. Doing a `defaults delete com.apple.preferences.softwareupdate LatestMajorOSSeenByUserBundleIdentifier` got rid of it permanently.
I'm not sure why people seem to think this is related to Catalina. This popup has appeared nearly every day for years. I'm pretty sure it shows up for any minor system updates, not just major version upgrades.
> sudo softwareupdate --ignore "macOS Catalina"
This turns off MacOS upgrade notifications, instead of turning off all notifications.