One reason for a notice of that kind used to be fairly common, although I haven't seen mention of it recently.

Earlier malware/Antivirus programs were fairly good at deleting or disabling the malware program files, but sometimes a piece of malware would write a line into the Registry to open a file it used, or sometimes to reinstall the malware if a file got deleted. The Registry entry wasn't, technically, malware but was just an ordinary instruction to the computer. Those old AV programs weren't as good at cleaning up Registry entries made by the malware before the file got zapped as they were at zapping the files.

If your AV "quarantines" files rather than just deleting them, it may keep a list of files in quarantine that you can look at to see if the the "missing" ones is there. If it is, you might have one of the rare instances of the above ancient peculiarity.

If the file was deleted, but the registry wasn't cleaned out, the computer would keep asking for the file, wouldn't find it, and would, quite appropriately, inform you that a file was missing. Removing a Registry entry of this kind usually requires manual editing of the Registry, and unless you're familiar with that process it is likely you should get detailed instructions. Bleepingcomputer.com is a well known and usually reliable advisor, if you can follow their instructions carefully.

It's also possible, of course, that a file that's supposed to be on the computer isn't there, or has been "corrupted." The proliferation of multipurpose "printers" has resulted in a need to check "status" fairly often since the printer manufacturers assume that you need their toy to do almost anything. Sometimes re-initializing your printer, by turning it off for several seconds and then turning it back on and letting it run it's "get ready" routine will recreate it's file(s). For some devices you may need to disconnect the power cord for a couple of minutes to let it "lose" internal memory that's retained in the device when it's just "off" in order to get a full recovery.

It's also possible that the installation/attachment of a multipurpose device failed, and reinstalling the "printer" control program may be needed. Recent PCs are pretty good at finding a printer setup, or you may have a disk that came with a device. Sometimes it makes a difference which you use (?).

All of this is pretty much just guesswork, of course.

John