You shouldn't have to visit the dealer and it should reset by following the instructions in the manual.
I have reset my wife's at least a couple of times since I replaced the battery.
The note in the manual states "If your vehicle's battery is disconnected or goes dead, the time and distance calculation of the service reminder is suspended. This will cause the service timing to change. In this case the calculation should be updated by your dealer."
The way that I read it means that it doesn't say that it can't be reset just that to retain what was the current reminder setting before the battery was disconnected will require a visit to the dealer.
Hope this helps.