I'm getting lost but remember that . . .
1. As long as 'Quick Removal' is selected as the removal policy (which it is by default anyway) then, as long as no data is actually being transferred to or from the USB drive when you unplug it, it's perfectly safe to simply pull it out (without bothering with 'Safely Remove Hardware') anyway ; and
2. It's always safe to remove a USB drive after you've turned your computer off.
However you could still try this:
Copy this line of text:
rundll32.exe shell32.dll,Control_RunDLL hotplug.dll
Right-click on your desktop and select New > Shortcut
Where it asks you to 'Type location of the item', right-click and paste that line of text in.
Click Next.
Name the shorcut something like 'Safe Removal'
Click Finish
You'll then have a desktop shortcut which does the same job as your missing icon.