Ugh
I have seen same warning with different library and the library should work as designed. The link in the warning explains the cause of the warning quite well. In short, if you know what you are doing and trust the server, you can ignore the warning. If you do not, then you must fix the certification issue which you are having.
I do agree that warning is quite ugly and library could be enhanced to capture the warning and use Robot Framework standard logging to display the warning. You could make issue about it.
-Tatu
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