Hi ,
It is a warning and you can acknowledge or clear the warning in the Alarms tab in vCenter, it will be removed.
Reason for this warning is, there is no enough resource in your cluster for fail-over.
Check which configuration is enabled there
There two options in HA
Cluster Resources Percentage Admission Control - you can mention the resource % over there to configure , if this is setting you can adjust and errro won't appear .
Specify Fail-over Hosts policy - Number of host fail over , since you have only two you must need enough CPU and RAM for this configuration.
Here one host down the another server should have enough capacity to manage the load by adding more resource you can resolve the issue .
You can refer below Links for more details and set your HA admission control policy
vSphere HA Admission Control
Best Practices for Admission Control
Cluster Resources Percentage Admission Control