These messages are just telling you that after issuing
sudo the current user has changed to
root isn’t the owner of those directories or one of the parent directories.
sudo -H sets the
$HOME environment variable to
/root and would probably hide these but the way you did it is perfectly fine.
I’m pretty sure these messages are nothing to be concerned about, but its always good to see that people are reading them and making sure.
Also, to verify this, you can try:
$ sudo env | less
$ sudo -H env | less
and pay attention to the $HOME and $USER variables