I have the G3, and after trying a whole lot of other things, I found the following in a Verizon forum, and it's so simple it made me want to kick myself. I removed Visual Voice Mail as a feature on my phone on the My Verizon web site and it did indeed go away. Given you do this on the web site and not on the phone, I figure it should work for other phones.
So; on the My Verizon web site, go to Change Features, and Visual Voice Mail basic will probably show up as one of your subscribed features. Remove it, go through the rest of the process to finalize, then restart your phone. Voila, the voice mail icons/buttons etc should now just call up regular voice mail.