Shouldn't void the warranty.
You would remove any tim material from the base of the heatsink, and then sand it with increasingly fine grit sand paper until you produce a mirror-like shine. I start with about 400 grit and end up at about 2000 grit. Some people say to sand in one direction then sand 90 degrees but I typically sand in one direction.
I use a 6" square piece of glass for the higher grits, taping 1000 grit to one side and 1500 to the other to make the surface as flat as possible. Some folks use metal polish to bring it to a fine sheen, but the residue that remains needs to be removed as well. Before mounting I would clean the surface with a soft rag and some rubbing alcohol.
This usually takes me several hours to be able to shave in the surface.
But it is worth it to me. So I guess you have to decide if lapping is worth a couple hours of work, not to mention removing your heatsink and reseating for a couple of degrees celcius.