Removing old replicasets is part of the Deployment object, but it is optional. You can set .spec.revisionHistoryLimit to tell the Deployment how many old replicasets to keep around.
Here is a YAML example:
apiVersion: apps/v1
kind: Deployment
# ...
spec:
# ...
revisionHistoryLimit: 0 # Default to 10 if not specified
# ...