At 4500 miles since last reset, the Maint Reqd light will blink at you on startup (very easy to miss seeing it). At 5000 miles since last reset, the Maint Reqd light will stay on solid.
It's just a reminder by miles that you are due for the next scheduled maintenance. It is not smart (doesn't go by time, or do any oil analysis), just a mile counter. Usually that is an oil change/tire rotation:
http://smg.toyotapartsandservice.com/
Should your dealer forget to reset it, or you go to an independent mechanic or DIY, you can reset the light yourself.
On pages 122-123 of the US 2004 Prius Owner's Manual (Section 2-5 "Operation of Instruments and Controls: Gauges, Meters and Service Reminder Indicators", item (j) in the "Service reminder indicators and warning buzzers" section), is a description of the Maint Reqd light and instructions for turning it off. It should be in a similar section in your RAV4's owner's manual.
Usually it is a button dance involving the odometer reset button.
If you no longer have your owner's manual, you can view it online after signing up at Toyota's owner's site:
http://www.toyotaownersonline.com/