iOS 16 public beta failed to install

I have an iPhone 11 currently running IOS 15.5. I decided to try out the IOS 16 beta since it has gone public. After downloading and attempting to install, I got an error prompt saying it couldn’t complete the install. Everything still works and still on IOS 15.5 but the beta install is still in the automatic updates and so tried to install again with the same outcome. So my question is, how do I remove the beta download from my automatic updates so I can continue receiving regular updates?