It is safe to install on non efi systems, and as shipped, Ubuntu
provides an EFI system partition mounted at /boot/efi.  It appears on
your system this partition is no longer mounted, causing the error.  It
is correct for grub to fail the upgrade rather than leaving the ESP
contents not updated.

If you are not going to have /boot/efi mounted, the other option is to
uninstall shim-signed and grub-efi-amd64-signed; this will prevent you
from transitioning this install to use UEFI in the future.

** Changed in: grub2-signed (Ubuntu)
       Status: New => Invalid

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https://bugs.launchpad.net/bugs/1931518

Title:
  grub-efi-amd64-signed 1.167~18.04.1+2.04-1ubuntu44 has broken non-EFI
  install

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