EPS warning light
 

I have a 2013 Sonata Hybrid. This morning, the ESC and EPS warning lights and tone came on. First, is there any way to disable the warning tone? The car steers and operates properly. Could this be a sensor that needs replaced? I would assume that I would have serious steering issues, especially under 40mph if the EPS motor were bad.
Thank you. I'm new to the forum.