Hi,
You receive this error if the device does not trust the certificate you are using on the ASA. If you don’t already, get a certificate issued by a public Certifcate Authority and install this on the ASA. Most devices will trust the public CAs by default, so therefore you should not receive the warning again.
Also Ensure the certificate is issued to the FQDN and the users connect using the FQDN and not the IP address, otherwise you’d receive an error also.
HTH