Blaze had five. Two on his neck, two on his ribs, and one on his hip. You can have them removed, but I wouldn't recommend it. They can grow back and are not a real discomfort. For Blaze, we switched his regular nylon collar for a wide leather martingale collar, and we always had blankets where ever we went so he could lie down on something cushy (to not irritate the bigger one on his ribs)
Spencer has been living with lipomas since he was 8 or 9– so almost six years now. They've never given him any trouble, and they have grown fairly slowly. He has one on his chest that's gotten quite big, but we watch it and the vet has always recommended leaving it. He does have an eyelid cyst that has been removed twice and keeps coming back. It's just part of getting older, I guess.
My older ones have quite a number of these. I just monitor them and have the vet check them when they are there. None of them have had to be removed. If any of them were at a location where they were bothering the dog, then I would probably have them removed.