If you feel it's a problem, take it in to have it looked at, I imagine your car is still under warranty. However I've noticed when I do new car inspections on some of the toyotas I work with, that the compressor kicks in pretty hard the first time if it's been sitting a while. Once it's had a chance to run for a bit, it won't do it again, until the car's been sitting overnight. I tend to see it as a normal condition, but if you feel otherwise, then take it in.