This issue is resolved in vCenter Server 7.0 Update 1, available at VMware Downloads.
Workaround:
This Warning message can be safely ignored, if immediate upgrade to vCenter Server 7.0 U1 is not possible.
Note:
vCenter versions newer than 7.0 Update 1 can still show similar VAPI endpoint health status messages as described in this article.
They are benign when happening during a reboot.
Due to the order in which the vCenter services are stopped for a reboot, VAPI might still be trying to connect to a service that has already been stopped. VAPI endpoint health alarms triggered during or right after a vCenter reboot are therefore benign and can be ignored.
If you are running a vCenter version newer than 7.0 Update 1 and are receiving VAPI endpoint health alarms without having recently rebooted the vCenter Server, please reach out to the VMware support by opening a support case.