P.562 of the online manual:
"If the Electric Power Steering (EPS) System Indicator Comes On
■ Reasons for the indicator to come on
• Comes on when there is a problem with EPS system.
• If you depress the accelerator pedal repeatedly to increase the engine speed while the engine is idling,
the indicator comes on, and sometimes the steering wheel becomes harder to operate.
■ What to do when the indicator comes on
Stop the vehicle in a safe place and restart the engine.
If the indicator comes on and stays on, immediately have your vehicle inspected by a dealer"
The implication seems to be that an occasional flash on/off isn't anything to worry about, but if it stays on then get it looked at.