Each set of rims will have to have their own sensors installed unless you plan on breaking the tires down each time. There is a procedure in your owners manual for resetting your computer to recognize the new positions of your sensors. You have to run the procedure each time you rotate tires because the computer logs the sensor position. The sensors on the unused wheels will go to sleep after a period of no movement, so if they are in the same garage as the set you are using they will not interfere. As far as I am aware the tire pressure sensor function cannot be disabled, at least that is what two dealerships have told me.
The morons at the tire shop will damage the sensors if you don't warn them, ask me how I know