You can uninstall or removes an installed avahi-discover package itself from Ubuntu 16.04 LTS (Xenial Xerus) through the terminal,
$ sudo apt-get remove avahi-discover
If you would like to remove avahi-discover and it's dependent packages which are no longer needed from Ubuntu,
$ sudo apt-get remove --auto-remove avahi-discover
If you use with purge options to avahi-discover package all the configuration and dependent packages will be removed.
$ sudo apt-get purge avahi-discover
If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.
$ sudo apt-get purge --auto-remove avahi-discover