First things first Mr. Ron. Take your squeggee and throw it away. If you really want a good job have it sprayed on by a professinal. The reason is, if you spray it on it will inject sealer into all the voids in your asphalt. Running a squeggee over the voids traps air bubbles. These air bubbles may pop and leave asphalt exsposed. If you insist on doing it yourself, get a somewhat soft bristle brush and give it a good coat (you may have to do it more than once). The reason you splashed sealer all over your concrete is because squeggees are a little to stiff to do detail work. As for the best way to get it off is to rent a pressurewasher. Take something sharp and grind/chip away the asphalt. Ifyou can't get it all up grab the trusty W.D.40. Spray just in those spots and pressurewasher. This you will also have to repeatedly. A few tips before I go when you rent that pressurewasher give the driveway a good hose down let dry then seal. Hope this was some help. P.S. I do this for a living.