I bled the air from the abs modulator today, lots air came out. Now the noise is entirely gone, even at start up (is this normal?? ).

To bleed the air out, just loosen the bleeder and start the engine, let the fluid run out thru a hose to a bottle, tighten the bleeder, shut the engine after the pump stops, repeat if necessary. Try to keep the level between min and max during the process. My car is a 97 GSR, so check the Helms if your have a different model, the procedure may be different.