Congratulations on your new car. If your car has fewer than 100 miles or so, I'd suggest giving it a little more time to break-in before seeing the dealer.
Although not every car creaks/groans when new, sometimes various components need to settle-in a little. Be sure to follow the break-in guidelines in your owner's manual and the noises may fade over the next few hundred miles. My last new car had a terrible brake groan that took about 600 miles to get rid of (high-performance pads).
There's certainly nothing wrong with letting your dealer check the car, though. In the end, do what you're most comfortable with.