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Yes of course - that is Honda speak for take me to the dealer so they can make some $. Seriously, the flashing D or D4 light means there is an abnormality in the powertrain system. Get the code checked and search that code here on this website. Don't automatically conclude that this bad news, it could be just an electrical issue such as a connector or pressure switch and not mechanical.
 
May I also suggest a transmission fluid change with DW1 Honda fluid? This is by the info in the owners manual a transmission trouble indicator. A friend has a Pilot and had it do this on rare occasion, but I did a drain fill and while it may not have done anything it has been trouble free for over a year.
 
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