Inspiron 24-5459, should I clear the TPM?

I had to replace my hard drive for my Inspiron 24-5459.  I have successfully reinstalled the operating system using Dell's Operating system recovery tool.  Now I am getting a message every time I boot up the computer:

"A configuration change was requested to clear this computer's TPM..."

F12 to clear or ESC to reject

I have been selecting ESC to continue but the message keeps coming up every time I reboot.

Do I need to clear the TPM and what will that do to the system if I do?

Thanks for your help.

John