Welcome to the ROC conour24v.
In normal service, at 36k you should have had the rear differential serviced by 15k miles, and routine oil changes when the MM calls for it, probably every 6 to 7k miles or so.
I would have already done a tranny fluid change, but the MM won't call for it until in the 40-45k mile range. With a 2006 model, you should replace the brake fluid every 3 years and I also suggest doing the power steering fluid and coolant too with a 6 year old vehicle. Replace the engine air filter and the cabin air filter if they don't look fresh.
All these things are pretty simple DIY-type jobs if you're so inclined. You'll pay about 1/4 as a DIYer vs taking it to the dealer.
Here's a link that provides a nice overview of the MM system:
Basically, the MM groups maintenance around oil change intervals (OCIs) so you don't have to make repeated trips to the shop. Always let the MM run until at least the 15% alert so you can see what other maintenance is associated with that particular OCI.
Note that when you reset the MM/oil life indicator, it assumes you've done all the associated maintenance and will not remind you of it again until the next time it's due. Also, the MM does not know if you use synthetic or dino oil. I use syn oil and still change per the MM schedule when it gets close to the 0% alert.
The noise you're hearing from the rear when turning suggests the rear diff has not been serviced or needs servicing. You can buy a gallon of VTM-4 fluid (no substitutes) for about $25, a gallon hand pump (keep this dedicated to VTM-4 fluid only) and it will take about 3 quarts to service the rear diff.
I recommend Honda fluids for everything except the engine oil (any 5w-20 that meets the spec) and the transfer assembly (which uses 80w-90 hypoid gear oil).
Here's the normal service schedule which approximates the MM. This schedule calls for some maintenance sooner than the MM (like the rear diff at 15k and again at 30k miles). But the MM will call for the rear diff at the oil change just prior to 15k miles and the next callout will be 30k miles later.
There are plenty of links here for the DIY procedures for everything. Just search. And ask if you have any questions.