Nothing to be concerned about...completely normal.
Whether gov't conspriacy or the size of your wheels, there's a speed sensor that, from what I know, assumes a specific size of tire...so changes in that will affect accuracy (correct me if I'm wrong, folks). If you get a gps fix on long straight away, trust the gps. I know mine is off like 50' (don't know if THAT is normal), but on a long run, think gps is better.
I just saw the inside of the front wheel bearing, don't know if it's there on every bearing...probably...a flat ring of magnets...behind a plastic 'washer'...anyway, it sends pulses to the sensor behind, so speed is calculated based on the speed of that thing spinning and it assumes a diameter of tire to give you speed.
But, I've heard that every speedo is off to the low side anyway...to fool us into thinking we're going faster than we really are. Larger wheel/tires might correct that so you're accurate, but then you'd also be slower...so you got to chose!
Doug