How do you turn off the highlight that displays when someone doesn't fi

How do you turn off the highlight that displays when someone doesn't fill a field? I want the "This field is required" but not the big ugly highlight box around it. I turned off Highlights but that only turns off the ugly box when the focus is on a specific field.

Here are links to the relevant guides:

How-to-remove-the-error-state-messages

How-to-customize-the-error-states

The code in the first link should be exactly what you are looking for.