Yes; this message comes from the payment terms you set and can be changed on the projects. To do so:

1. From the main menu, open the Projects screen.
2. Select a project from the grid and view its details.
3. Under General > Billing Options, set the Terms to the desired setting. You can select one of the terms provided, such as Net 30, or create your own term. 
4. Click Save. The new net term is reflected on invoices moving forward and it does not display the 'Due Upon Receipt' message on invoices anymore.