Yup it sounds like the valve stem seals are starting to go.
I wouldn't worry about it too much, just keep an eye on your oil level. If your really concerned, you could get them replaced. I think they cost about $8 each from toyota multiplied by 24 valves gives you close on $200 just for the seals. Most mechanics will want to remove the head to do it, meaning more gaskets, lots of time and while the head is off you may as well get it serviced and the valves lapped. Don't expect too much change from $1K.
Or as I said earlier, don't worry about it. It will only be noticeable as a puff of smoke on startup for a couple of years. Just make sure all thoes little puffs don't result in an empty sump.