that is: designate an external hard drive for your timemachine. hopefully it will then get rid of the error message while the ext.HD remains plugged in. according to many other users, including myself, this has proved effective.
frankly, someone posted it that even the techs at apple don't quite understand what really the culprit(s) for that problem is/are.
I think you're quite lucky to have only one computer affected by whatever the culprit is. But the issue at hand is how and what we can help solve the issue on that affected computer of yours.
Since I am, like you, only an everyday user, instead of any techie or wizzard, who has experienced the same troublesome matter... I suggest to try my (and many others' same/similar) reccommendation as above - also posted on the forum thru out the past coupe of weeks.
if you do not (and don't need to) have an ext. HD and do not need to use timemachine at all, then, you perhaps have to live with that error message until either Apple solved that issue in its Lion update or you pick up an ext. HD now for a quick solution.
P.S. -- i don't use timemachine but do have an ext. HD. so i have it designated for timemachine use. to avoid the error message i have to keep it plugged in at all times - on both of my iMac and Macbook Pro.