So long as there is no pre-payment penalty (already mentioned that it is illegal in some states - and very uncommon in any event), and presuming it is not a front-loaded loan like a mortgage, then yes - paying it off now is better.
Unless you have no other cash handy for emergencies (ye olde 'emergency fund'), paying loans off early is always a Good Idea™, in my opinion.
Presuming you have no other loans with a higher interest rate, then paying this one off now is likely your best bet.
If this is a front-loaded loan (like a typical mortgage), then the 'early' payoff is not going to be a major savings (maybe only a couple dollars), so focusing your cash on creating/boosting an emergency fund and/or purchasing something like an IRA (for both retirement and tax purposes) would be a good choice, too.