The first thing you should do is take a step back and learn more about network topology so you can understand what those protocols do and what type of information is being stored in that header b/c without it? Your data is going nowhere, especially with UDP, much less any custom protocol you attempt to design.
When your device sends a packet of data, that packet is going to be handled by any number of devices between you and the final destination and none of those devices really knows anything about you, your intentions, the data, etc.. So there needs to be some way to tell each device in that chain how to handle your packet and where it should be going next. And what do you know: turns out, that's kinda what the UDP header is there for! Pretty important 8 bytes I think. So while you may feel like those 8 bytes are wasted space, the reality is, they're essential to getting your data where it needs to go.
Lastly, any new protocol you design, has to be something that every device between you and your destination, can understand. And now you're talking about adoption and implementation. It's not an easy job to design new protocols.