The noise you describe is completely normal. Every slot-in drive makes some noise as it pulls in or ejects the disk.
You should also hear some noise from the drive when you start your MacBook or wake it from sleep. This is absolutely normal too.
And no, you can't change that noise.
Apple resources
From Apple Support (emphasis mine):
You may notice your optical disc drive makes various sounds even if a CD or DVD isn't in the drive. The noises you might hear from the optical drive are probably normal. There is a small motor in the drive that spins discs.
Sample sounds
Here are some sample sounds that show you what the drive can sound like (AIFF files).