You can make it so it is in a fixed place on your UI and not beside the icon, same with item descriptions and such.

First things first, under the system tab open HUD Layout, find the boxes, "item help" and "action help" and place them wherever you'd like them to be and save.

Then under "Character Configuration" select "UI settings" and look under the "General" tab.

About half way down you will see "Help" under that "position" with a drop down menu next to it. Set it to "Fixed" in the drop down menu and it will now only appear wherever you moved the box to in HUD layout.