Opinion
Never soak off cover.
Soak off "piece" if you need it for mounting but,
do not soak if a full Postmark is evident etc, or other marks.
Why?
Stamps are bountiful in the main, why soak when clean stamps are available
So many collectors waste time soaking multiple same stamp issues...why

Only my opinion, set your own standard during your hobby experience.
The stamp you show (common) has 3 interesting points
What watermark?
Has "selvedge"
Has a "Jubilee Line"
I would soak it, if it were my only example.