I don't care what anyone says, any blue smoke coming out of the exhaust pipe is a bad sign and means your engine is burning oil that is leaking from somewhere and usually into your combustion chamber ...
You might have bad valve guides, piston rings ... something is going on and it is not good ... sorry to burst your bubble but you won't always see big oil loss when it is first starting, so I personally would advise you to have it checked out right away, it could be something really small but that is definitely oil being burned by the engine ....
By work truck a few years ago only did this at startup .. one of the maintenance workers saw it one morning when "he" started it up, he pulled into their garage and with a camera he found out that the piston rings were bad and the valve stem seals where just trashed ....
Don't hesitate or waste time, catch it while it is still early if you just began to notice the blue smoke ....