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You can't as this is a feature that Google and implemented in new firmware or at least new firmware on new devices
Or you can turn the volume completly down.
There is option to disable chaging notifications. In sounds or in developer mode. Check them.
Ok just found it. Its in Settings/ Accessibility/ Play sound when battery is full option.
I just got my Z3 from service center so saw its exact location.
That's not the same as plugging it in to charge tone, As I said this is a new Android feature