As long as the pulp is not showing I would leave it.
I have had both incisors and canines removed from my dogs, the canines are serious stuff to remove as often part of the jaw bone needs to be removed also. But when they have cracked of low down, it needs to be done.
My current dog is missing lots of incisors, and has chipped pretty well all four canines.
From working generally incisors will become loose and can be extracted easily, but if the dog chips or hits them on something causing a fracture or snap just check its not exposing the pulp or they are too low down to leave them op