If the engine was totally warmed up when you opened the filter drain I highly doubt there would be any ice on the sensors. Most common cause is water from a wet road or washing the engine shorting out the connection to the WIF, clean it up and apply di-electric grease. If that doesn't work there many be crud in the bottom of the filter housing shorting the sensor, if you can stand having the light on wait till the next filter change and clean off the sensor, it should be done every time you change the filter anyway.