it's really annoying to see those error logs shows up especially when I'm working on TTY, they will ruin the output, is there any way to disable those error messages completely?
The link ufo6000 supplied gives you the answer. You must add it as a kernel parameter. For raspberry pi that would be /boot/cmdline.txt.
As for the undervoltage detection, if you run a pi on a regular 5V supply and don't connect anything power hungry on the USB ports you should be fine. As soon as you connect for example a USB external harddrive you might get voltage drops giving this message. Either power your USB peripherals externally or better: use a 5.1V power supply wich can supply at least 2.5A, the bigger the better. And don't go for the cheap ones. Look for raspberry pi powersupply on official dealer websites.
I run a RPi4 with 2TB USB harddrive as a NAS with a 5.1V/2.5A supply and never get these messages.