Deleting a single URL from the dropdown list is actually a matter of pressing the Delete key only. Here’s the simple (but very useful) how-to: On the address bar, as soon as you start typing an address, the dropdown appears with the URLs of pages you’ve visited (and any matching ones in your bookmarks) with the letters you were typing in them.
Simply use the arrow key to scroll to the address you want to delete, and then press the Delete key to remove the specific URL you would rather keep private. Yes, that is all you need to do. Try it out.