If your dentist is okay with leaving it in, then there is no reason to have the tooth removed. My husband has all of his wisdom teeth, and he is happy he never had to have painful surgery to have them removed.
A non-impacted teeth should be taken out only if there is pain or any other problems. Sometimes the erupted teeth is buccally placed and there is constant cheek bite due to it. The gum around the teeth gets swollen resulting in pericoronitis/pus formation.