Power Steering Reservoir Foaming up
 

I have a 2003 Santa Fe that when I drive for awhile and turn it off I see foaming in the reservoir and then it begins to overflow and pour out. Weird thing is when its cool it shows that the fluid level is normal. It is also making a loud noise when the steering warms up and I try to turn the wheel, not sure if that is part of the problem or something else. Any help is appreciated!!!! Thanks!!!