Go to Home Depot or Publix and get some Goo Gone, it is orange and comes in a spray bottle, just spray on the area with glue wait a minute or two and then start to wipe away with a cloth, it will not harm your paint.
You may also want to buy another one called goo and gunk remover, it comes in a small clear plastic battle with a black plastic scrapper attached to the top of the bottle.
I use both and have been working on removing some 6 year old decals on a 24 foot trailer, both work very well.