Yes, you are right Henrik!! Thanks for showing me that.
Edited:
For now, the easiest way I found to have an answer without ConditionalExpression was:
k = Integrate[r (4 a^2 - r^2)^(1/2), {r, 0, 2 a Cos[t]},
Assumptions -> {a, t} \[Element] Reals];
If[Length@k > 1, k[[1]], k]
First[] was promising but it didn't work out very well..
First@Integrate[r (4 a^2 - r^2)^2, {r, 0, 2 a Cos[t]},
Assumptions -> {a, t} \[Element] Reals]
I wonder if there is a shorter/faster way..?!