I had the same question.
You use the remove_meta_box
functions mentioned in a previous answer, but you have two options: tagsdiv-{$tax_name}
for non-hierarchical taxonomies and {$tax_name}div
for hierarchical taxonomies (like categories). So in your case:
remove_meta_box('tagsdiv-brands', 'post', 'normal');
remove_meta_box('brandsdiv', 'post', 'normal');