ok my memory is failing me, i traded in the samsung for an oppo a few months ago.
when i had the samsung connected to my tv with the hdmi and no receiver connection, i didnt get the message .As soon as i connected the optical cable from the samsung to the receiver , i would get the message.
However the message only lasted for a few seconds i learned to live with it, however i ended up sending back the samsung to bestbuy and kept the oppo.
Im sure someone else can help, i never did find the solution in the samsung manual, maybe try a google help.