# sync to a single server
server yes
         ^^^ -- this seems to be wrong.  Server line should contain
                ipaddress/hostname, not 'yes'.

Yes, you've the reason; in /var/log messages:

(...)
May 22 09:13:54 time ntpd[31006]: 1 out of 2 peers valid
May 22 09:13:54 time ntpd[31006]: bad peer yes (not resolved)
(...)

But I think this is not related to the warning I commented in initial message.

--
Thanks,
Jordi Espasa Clofent

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