If you can fit it in around training, you should go to court. The trooper basically told you that:

She said I made the best decision but she would have to ticket me since I was caught on camera. She told me to pay the fine within 20 days to only receive 2 points or wait until my court date and run the chances of paying the fine and 4 points. But she winked and told me to go to court.

If you go to court, she may tell the judge that she agreed that you made the best decision, and the judge could dismiss the ticket...or she may not even show up and the nthe ticket would also be dismissed.