You’ll have to use dynamic SQL for that, since ALTER TABLE does not accept variables or subqueries.
CREATE TABLE PKTest ( ID INT PRIMARY KEY ) ;
DECLARE @SQL VARCHAR(4000)
SET @SQL = 'ALTER TABLE PKTEST DROP CONSTRAINT |ConstraintName| '
SET @SQL = REPLACE(@SQL, '|ConstraintName|',
( SELECT name
FROM sysobjects
WHERE xtype="PK"
AND parent_obj = OBJECT_ID('PKTest')
))
EXEC (@SQL)
DROP TABLE PKTest