Lexus GS 2013+ :: VSC Indicator Light Occasionally Appears When At A Full Stop

I have a 2013 GS350 F-Sport. Every so often (maybe once every other week), I'll observe the VSC indicator appear after I slow down to a complete stop, such as at a traffic light. The indicator light remains on while I'm stopped. Once the traffic light turns green and I take my foot from the brake pedal to the accelerator, the car hesitates for a moment, as if trying to figure out how to gain traction, but I then get going, and the VSC light disappears and that's the end of it (usually until it happens again a few days or a couple weeks later). Whenever this happens, the road is flat and dry, so traction should be normal and no problem.

The only other piece of information that might be relevant is that I now believe I can reproduce similar behavior: if I'm at a traffic light, or even just parked, and I simply step down hard on the brake pedal, I observe that the VSC indicator light appears. Perhaps this is simply what is happening in the instances I have observed this when stopping at a traffic light. Still, I don't understand why pressing down on the brake pedal with a little extra pressure when parked would cause the VSC light to appear. Is this normal behavior? Only the VSC light appears in these instances, no other indicators or warnings appear.