Thank you for your post.
To remove any application from your iPad home screen, tap-hold the application until all applications start shaking. In the upper left corner of the application, tap the "X" to delete/remove the application.
Let me know if you need additional clarification.
TSGal: I already know how to delete an app from an iPad or iPhone. That's not the problem. The actual problem -- which I clearly stated in my question -- is how to prevent the iPhone app from reappearing on the iPad each time I sync with iTunes.
IIRC, removing the app from the iPad or iPhone Desktop views to the right of the apps list under the "Apps" tab in iTunes also prevents it from being copied back to the iPad or iPhone whenever you sync it with iTunes. To remove the app from the iPhone or iPad desktop view, click the app and then click the x button (or click the "Remove" button opposite the app's name in the apps list).
BTW, the method described by TSGal should also achieve the same goal.