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I have a 2001 and the belt has always done that. I assume they have very carefully designed the tensioner so that it applies enough load, but not too much! Consequently, at high and fast-changing RPM's, it slips just a little. I guess if it bothers you (and I agree it'd be better without it), you could try replacing the belt and/or tensioner.
Anyway, approaching 80,000 miles, mine has caused no problems. I'll probably replace the belt as preventative maintenance soon, so I'll let you know if that changes anything.