I ran into this same problem...
I can tell you what service is giving you the problem, but not how to fix it. You have enabled Routing and Remote Access, and it is not configured correctly. If you set this service to start "manually", you will no longer get these messages.
But, if you want to use Routing or Remote Access (for VPN, incoming dialup connections, etc), you will obviously need this service to run...if that is the case, I would say search MS's knowledge base and reseach how to configure this service.
If you don't need it, kill it!
Cheers!
MiXeLpLiKz