Hi JM!
The best starting place for changes like this one is our Themer’s Guide, which covers the basics for safely overriding and customizing our templates:
theeventscalendar.com/knowledgebase/themers-guide
Within the pro/widgets/modules/single-event.php you would then find this piece of code:
<?php echo tribe_get_venue_link(); ?>
Simply modify this to:
<?php echo tribe_get_venue() ?>
Do note however that this change will also impact the calendar widget (since that template is shared by both) – but if that’s not a concern this approach should meet your needs nicely 🙂