It's normal that Windows shows that warning if your antivirus protection is disabled. Please go to security center in control panel and check that firewall & antivirus protection are enabled there.
1. Go to c:\windows\system32 folder.
2. Drag rundll32.exe file there to your desktop and wait for 10 seconds. New instance of rundll32.exe should automatically appear into c:\windows\system32 folder.
If that didn't happen drag rundll32.exe file back from desktop into c:\windows\system32 folder.
If new instance of the file got generated please try to access system restore again. Let me know how it goes.
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