Since you thought apriori that interaction might exist, statistical performance of estimators and confidence intervals will work better if you stay with the pre-specified model and form meaningful contrasts from that 3 parameter (+ intercept) model. You can get confidence limits for the effect of raising X1 by so many units if you hold X2 to a pre-specified constant (then vary that constant).
There are some occasions where removal of a term is OK as far as preserving statistical inference when the $P$-value is high enough (say 0.4) so that bootstrap repetition of the entire process selects the same model every time.