Power Steering - intermittant fault?

Last Wednesday driving our K12 petrol Micra home from an evening meal, about a mile from the resaurant going up a steepish hill, the power steering failed with the PS warning light coming on. I drove the remaining half a mile home without PS which was hard work. The following day I phoned my mate's garage and was told to bring it over. So, I got into the car and turned the ignition on and the PS light was out and the power steering was fine. I've used the car virtually every day since for short trips and the PS is still working. Any idea what caused the temporary fault and should I now drive the car with gay (original meaning of the word) abandon or should I be driving slowly whilst biting my nails?
 
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