FYI - I have had this same issue off and on over the summer. Checked the reservoir a couple of times and it was always full. With the cooler weather in Michigan it was less often. But a few weeks ago I had the notice pop back up again a few times and was conditioned to ignore (which I did). However, when I got home I notice that a fan was running which had never happened before. Looked under the hood and sure enough, the reservoir was empty!
Kia service figured out there was a leak in the invertor radiator and changed that out along with a flush and new fluid. Seems to be fine now, although temps are in the 30's, so it may resurface at some point.
Anyway, just a reminder to give things a look under the hood every once in awhile. The warning could be legit!