As Steve said, don't worry about it since it is completely normal. However, belts don't last forever.
My new belt doesn't chirp. A young belt in good shape will probably give one short chirp. When you realize you're hearing a longer chirp or two or three sequential chirps, use it as a reminder to check the belt.
I've no clue how long the old belt was on there. Prolly over 100K miles. It'd been giving good chirps on shutdown when the fan was engaged, summer and winter. The other day I finally noticed it was squealing a little, and the squeal would change when the A/C cycled on and off; I knew it was long past time to replace it.