Don't put it off, a grinding noise is never a good sign. Even if you're using it normally, it could be an internal problem that's getting worse. Three years is pretty solid regular use so wear and tear is possible, but there are several things to check before you call customer service.
First, clean the bowl really well and especially check if there aren't any crumbs or residue stuck between the bowl and the seal - that often creates weird noises. Also make sure the bowl is clipped in properly and nothing's loose inside. Sometimes it's something silly but it can make a real racket. Run it empty at different speeds to make sure it's not just happening when there's food in it.
If it keeps happening after that, then yeah you really need to contact Thermomix. Sounds like a motor or bearing problem that's wearing out. Record a video of the noise if you can, it helps customer service understand what's going on faster. You should be covered under warranty so you'll get free service - make sure you take advantage of that.