You were mis-informed by the dealer - if you've had an annual service, and hit the 10K in the interim, you don't require the full service - just the Wheel Bearing check at 10K.
Owners Handbook, page 88:
Motorcycles travelling less than
10,000 miles (16,000 km) per year
must be maintained annually. In
addition to this, mileage based
items require maintenance at
their specified intervals, as the
motorcycle reaches this mileage.
(Wheel bearing is the only item at 10K that isn't on the annual service schedule).