Yeah, there's very little you can do on the client side, other than to "Suspend" your VPN connection temporarily when you need to print then "Resume" after you finish (there are menu functions on the system tray for suspending and resuming Pulse connections).
Indeed, the lack of options here is intentional in some regard, to the extent that your system administrator wants to prevent data leakage.
I think your best bet would be to figure out who your system administrator is and recommend that the admin make the change to allow Local Subnet Access.