valve adjustment advice

[SV1786]

Hi all, so FINALLY got the seca on the road for some highway driving, seems very solid. The PO did tell me that around 16k miles the valves need to adjusted. When the bike warms ups you can hear them at a certain rpm. What is your take on adjusting valves, mandatory, possible catastrophes? I stopped by a bike shop, they say that i shouldn't worry about it for now BUT, if i do want to fix them then its 350$ for labor + parts...