Просто используйте небольшое самоотносительное предложение НЕ СУЩЕСТВУЕТ:
DECLARE @tableA TABLE (tableAID int IDENTITY(1,1), tableBID int, grade int)
INSERT INTO @tableA(tableBID, grade) VALUES(10, 1)
INSERT INTO @tableA(tableBID, grade) VALUES(10, 3)
INSERT INTO @tableA(tableBID, grade) VALUES(20, 4)
INSERT INTO @tableA(tableBID, grade) VALUES(20, 8)
INSERT INTO @tableA(tableBID, grade) VALUES(30, 10)
INSERT INTO @tableA(tableBID, grade) VALUES(30, 6)
SELECT tableAID, grade
FROM @tableA ta
WHERE NOT EXISTS (SELECT 1 FROM @tableA WHERE tableBID = ta.tableBID AND grade > ta.grade)