I got mine taken out when I was 12 weeks. Just confirm it with your OB, and be cautious of the medication that the dentist may subscribe you afterwards.
It's fine to have dental work done while pregnant as it is a local anesthetic, not a general anesthetic. You just have to let them know you are pregnant and be careful of the pain killers you take afterwards.
Safer to have a bad tooth out than in. They can put all kinds of bacteria into your system. Tell your ob-gyn, and run all meds by your ob-gyn.