I have only one Windows XP VM, on the rest of the VM's (Windows 7, Server 2012R2 and up) the message was shown too, but there i updated the VMware Tools and the message disappears, as expected...
When i try this on the XP VM i got a error thet the required iso isn't available. Shure, XP, 2000, 2003 is on the winPreVista.iso which isn't part of the normal ESX installation. But the newest version of this VMware Tools i found are the Version 10.0.12.
I tryed to install, but i can only select Repair, Modify or Uninstall, so the same version must be installed...