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Engines need to warm up, but they don't need to do so sitting at idle in the driveway. Just take it easy (low revs, low throttle) for the first few minutes, it will be up to operating temp sooner that it would have under no load.
I wouldn't worry terribly about it stalling once when cold, if it was a-ok from that point forward. On cold days, just watch it a bit closer when pulling away from that stop sign, and there's nothing wrong with giving it a little bit of throttle if it feels like the revs are dropping too quickly into a stall on their own.
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