Mine did that early on. eventually the red light came on where the transfer case buttons are on the dash. I replaced the actuator that is bolted on the outside of the transfer case. cost me about 100 bucks or so. took me 3 minutes to change it out.

 

Had that problem a year ago, had my wheel bearing replaced one weekend, one week later, my 4wd service lit up, turn off the engine and restart it, service light when off. Brought it to a friend who works on 4x4 vehicle, clean it off and never had any problems since. Have taken it offroad couple times (level 1 - 4), 4wd service drive light never came on and hopefully will continue to be not an issue.

Danny