YEs, start it with out the choke on, no harm done, I rarely use the choke only when it is really cold will I use it. My bike will do the same thing when I start it, if it isn't a cold day, but when it is really cold it actually idles very well and once warm I turn it off.
So short story, don't worry about it, if it runs fine without it on then just ride it, end of story.