Well a few things. First up your php and hosting environment should NEVER output notices or warnings to the screen. Most unusual. ALL recommendations are not on a production site.
Next up – I am a little unsure why you should see that at all. Even when I change my variables to force that condition I get no warning reported. So that is odd.
However – please go to the forum admin > components > SEO and see what you have set fore the ‘Title separator’ field. Usually this is a bar | character. If it is empty please try putting one in and seeing if that resolves the message.