My understanding is that you should never have to top off the coolant unless there is a leak somewhere.
I agree with Dalton that your light was triggered by coolant flowing into the core when you turned on the heat, but the fact remains that the air pocket in the core had to come from somewhere.
I wouldn't be overly concerned about having to replace some coolant here or there, but I would want to find the source of the gradual loss.
Little problems aren't a big deal, but left unresolved (especially with the M54 cooling system) they can turn into big problems.
I would top off and keep an eye on it. I would prioritize replacing your water pump and thermostat within the next 5k.
Above 60k with an original water pump you're on borrowed time, imo.
Bruce's suggestion about the expansion tank cap is a good one as well. And cheap/easy.
Sent from my kick-A Galaxy S3