Basically, you can choose to do nothing and keep everything together or you can go get the lien removed at the MVA (or mailed in). If having the old title back with a stamp showing the lien has been released isn't enough, you can pay a fee for a new title without it.

https://mva.maryland.gov/about-mva/Pages/info/27300/27300-18T.aspx

You should have the original title, whose shows a lien. You can keep that letter with the title, or take both to MVA and get a title with no lien. Either is fine.

Forgive my ignorance. I recently paid off my car and received a letter from the finance company saying it's completely paid off. Do I take this letter to the MVA to get the clean title? I've never financed a car and always paid cash for my previous cars so this is new territory for me.