This can be done by pressing and holding down the Honda Connect power button for more than 10 seconds
The only issue I've read which made me reluctant to try the above was that doing so completely wipes all the data you have previously into the system. So, you end up having to re-enter all your favourites to the Audio, Navigation and Phone systems from scratch. It rather put me off trying it as I'd spent several hours setting everything up.
However, I found another suggestion on the HR-V owner's forum, which was basically to repeatedly change the system colour from the settings menu. Every time you do this it causes the system to reload without wiping your data. I literally sat in my car the day before yesterday and worked my way through every system colour available Red; Amber; Violet; Blue and eventually back to Violet (just because I liked it)
I didn't really expect it to work, but so far since doing it, the error message has not reappeared.