The error has to do with the built-in formatting routines that convert a document to something printable. If you are dealing with a really dumb-butt printer, you send straight ASCII plus some control codes. But as computers get more sophisticated, you get more options including graphics instructions. There are all sorts of graphics instructions. For instance, on HP printers, you have at least a chance of using HPGL (HP Graphics Language) to control the printing. There must be dozens of proprietary methods out there by now, no telling without the manual as to which printers use which method.
What this is telling you is that the Access output routine looked at its defaults and compared them to the defaults corresponding to your current default printer, and that they did not match. I.e. your default printer within Access doesn't match your default printer within Windows. So Access is asking permission to change to a new default printer output converter.
I'd say, let it do so. Long term, you might wish to print something from Access and go through the long "Print ..." dialog (including clicking on the Select Printer button) to reset Access's viewpoint of its current printer.