Hi PJML,
welcome to the Apple (user-to-user) Community!
Re: AirPod Pro warranty : Where can I claim this warranty to replace the faulty AirPod
First: Find the serial number of your AirPods - Apple Support
Enter serial number to:
Check Your Service and Support Coverage - Apple Support
You can then follow the onscreen instructions
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More info. if needed: About Warranty: Legal - Hardware Warranties - Apple
About Replacement : AirPods Replacement, Repair, & Service - Apple Support
and
AirPods Express Replacement Service - Apple Support
If you decide to visit an Apple Store, (take proof of purchase, and proof of your own ID)
a Genius Bar reservation is recommended: Genius Bar Reservation and Apple Support Options - Apple
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AirPods Support Website:
Topics, resources, and contact options :
AirPods Support - Official Apple Support
All the best :-)