Generally there should be a protective element preventing general public, machine operators and service personnel from getting into contact with a live part.
That means that the PCB should be protected by a hatch, fence and a gate or what ever achieves that. The warning label should be well visible on the protective element, for example on a hatch that would protect from "high" voltage. Even if the hatch was transparent, it would be difficult to rationalize the warning label being on the PCB.
Once you remove the protective element with the label (open a hatch), you are exposed to live circuits and there is no requirement for further warnings.
If there is an specific care point, where attention should be drawn, for example if there is only one point exposed or if one point might be energized after shutdown. Using too many warning labels might confuse the operator, who might fail to identify another live part.
In the US the warnings should follow the ANSI color scheme and style, where as in EU a lightning symbol in a yellow triangle is usually used. Exceptions to the colors, text and symbols on the labels might be allowed, but compliance testing house would request rationalization if you only used the PCB and silk screen color for the warning.
The exact requirement depends on the end use of the product. Maybe there is an application (Defense/aerospace/medical) where you would have to access live circuits or "high" voltage batteries that cannot contain other labeling. If in those cases the only mean of mitigating the risk of injury As Far As Reasonably Practicable, would be to use silk screen, then it would become a requirement.