I found it strange too. I was already a member of sys, wheel, and lp. Yet I could not delete a printer.
I have attached a screenshot of the authentication window I got. Looks like I cannot embed an image to the post. Let me know if you need to see it (address? is below).
(upload://z2SdUkz2868KloWhSDlS9O2ITJD.png)
Even though I was a member of the above three groups, authentication failed (infinite loop) until I made myself a member of cups.
If this behaviour is an artefact of something else that is amiss, kindly clarify what it is.
I use the same password for both the first user and root.
I generally use KDE System Settings to manage printers, but strangely, in my new installation, release 20.1, there is no such option to configure printers.
I am now using System -> Manage Printing from the Application Menu as that is the only one available for this purpose, AFAICT.
That leads directly to http://localhost:631/ and the CUPS interface on the browser, and to what I have already documented so far.
Strangely, cups-pk-helper was already installed on my system (automatically, I suppose). And I am getting the reported behaviour despite that.
I think the cause of the problem is the disappearance of printer setup under System Settings in KDE. When and why it disappeared is unknown to me. If you use KDE, can you please confirm this?