Asteroid 2014 RC Passes Very Close to Earth — Only Discovered Five Days Ago?

All sources agree.  Asteroid 2014 RC is going to pass so close that it will be shorter than the distance between the Earth and the Moon this weekend, but despite the astronomical close shave, there is little chance that the asteroid strikes the Earth in a cataclysmic event.

Go ahead.  Let out that sigh of relief.  Now for the bad part.

Asteroid 2014 RC was only discovered five days ago!  So, if it had been just a slightly different distance, this could be a much more troubling story.  What do you think?  Is it something to worry about that we are routinely discovering asteroids this close to the Earth only a few scant days before they pass by?