The dealer is trying to blow you off until the warranty is done.
NO CEL should come on under normal operation - if one does, it means there is something wrong and it needs to be fixed.
Make sure you save your receipt from when the dealer scanned the code. Even if you go past 36k miles, as long as you had the first problem before the warranty expired, you will still be covered. Go back and tell them to fix it. Every single CEL has a diagnostic subroutine in the service manual, and NONE of them say "Send the customer home and tell them it is normal." If you want, I can look the code up (once you have it) and can tell you exactly where in the service manual the stupid dealer is suppoed to go for instructions. Don't do anything yourself - let them spend their time on it, especially since they are trying to give you poor service.
EDIT - You aren't past the 36 month warranty period are you? If so, then forget the dealer.