I believe this rule will be triggered for any resources that are cached for less than 30 days. In your case, you are caching your resources, but only for 24 hours. So what you need to do is adjust the cache period to a longer time period. You could do 30 days, but if these resources are truly static, then you may want to consider an even longer period of time, like one year.
By caching things for 24 hours, you will improve the performance of your page within a browser session. That is, a user comes to your site and they browse from page to page and maybe even view a few pages multiple times. It is likely some of your resources are used on multiple pages, so there is a benefit in this case where someone is browsing around your site.
But now if that user comes back in a couple of days (> 24 hours), those resources are no longer cached, so they will have to download all of those resources again. That is what this recommendation is telling you. In most cases, things like images or css are unlikely to change over the period of a few days, so you can get more benefit by having a longer cache period like 30 days.
Hope this helps,
David