GpM,
I believe your boat is significantly newer and is certainly more complicated than ours, so consider the differences when considering my response.
I certainly would check for leaks in any case, but our experience on our R21-EC, vintage 2007 is similar to yours. Just a couple taps of the pump every once in a while. I have searched diligently for leaks and can say for certain that there are none.
I don't know if your boat has an accumulator or not for the pressure system. If so, it is possible it is water-bound. If not, it is possible that just the normal pressure drops in the system, due to valves in the pump that are not aerospace quality, is enough that the pump detects it and runs a couple cycles to build it back up. In fact, in our case I am certain it is slight leaks of pressure via the valves since the period between cycles has gone from hours to 1/4 hours in the time we have owned the boat.
We have found that with ours the simplest thing to do is to turn off the pump manually except when needed. But, of course, our switch is right at hand for all our water usage (i.e. a single sink 4 feet away). If you find no leaks, I would suggest installing an accumulator in the system. Not only should it stop intermittant short pressure adjustments (or at least greatly extend the period between cycles) but will also make water delivery much smoother at all times.