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XP SP3 32-bit is still supported as long as you keep it completely up to date (64-bit XP never was supported). I've seen similar errors in XP, Vista and Windows 7 and have for the most part, ignored them, especially if when opening the SecurityCenter all is reported OK and green.
There have been some issues reported with slowness on dual-core machines however and perhaps you may benefit from having Technical Support take a look at your XP setup. It's a free phone call and linked under Useful Links at the top of the page.
Before doing that you could try running the Virtual Technician (you'll have to anyway when contacting support): http://mvt.mcafee.com/ - it may repair whatever is wrong, if anything.
McAfee's policy on operating system support coincides with Microsoft's so there is quite a while yet before XP falls out of support.