See https://docs.citrix.com/en-us/citrix-workspace-app-for-mac/install-uninstall.html:
You can uninstall Citrix Workspace app for Mac manually by opening the .dmg file, select Uninstall Citrix Workspace App, and follow the on-screen instructions. The .dmg file is the file that is downloaded from Citrix when installing Citrix Workspace app for Mac for the first time. If the file is no longer on your computer, redownload the file from Citrix Downloads to uninstall the application.
You can probably also just run
sudo rm -rf /usr/local/libexec/{AuthManager_Mac,ReceiverHelper,ServiceRecords}.app
sudo rm /Library/LaunchAgents/com.citrix.*
sudo killall ReceiverHelper
but this will leave traces in other places like /Library
, ~/Library
etc.