Yes, there are two warning indicators, a 'Service Engine Soon' or 'SES' light, and a 'Check Engine Light' or 'CEL'
SES lights are generally used for minor things, such as the fuel cap, etc.
I'm sure there is no need to panic or drive like mad to the dealer immediately, the CEL usually is the hard core indicator.
Since you're worried, and would probably want peace of mind at ANY time, I would recommend getting a cheap OBD-II reader so you could pull the code now (and in the future), so you can see what the code is before you take it to the dealer.
Like G.I. Joe always told us.. 'knowing is half the battle.. '
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