How much too low were they? Did this happen around the same time as weather changes?
Remember that tire pressure can be affected by air temperature. If you are keeping the tires at the manufacturer's recommended pressure, then a drop in night-time temps can cause the warning light to come on in the morning. It happens to my wife's vehicle a couple times a year. I haven't had it happen in my HSH, but I also bumped my pressures above manufacturer's recommendation prior to any real weather changes.
If it is not happening very frequently (more than once per week) and without corresponding changes in air temp, then I suspect that both Hyundai and the tire manufacturer will say that it is normal.
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Touring the greater Houston area and trying to save a little gas doing it!