No, the only way is to modify your workspace file directly.
It is possible to initialize all settings, by using command line flag, or start in a mode when recent items are not persisted, but nothing to selectively clean up history.
But I would say, this is not a very often request. More critical is the question: "How I can reset my "Do not Ask" preferences?" (when you set in message box, to not ask again and used selected)
For this is also the only way to modify settings file directly.