If the load current is too low, the output voltage may rise above 5V. One solution is to put a resistor between Vout and ground, which draws the minimum current. In this case, 10K would be suitable.
Minimum load current mentioned on the datasheet page 3 is explained on the same page in MOTE 3. The regulator will keep quiet if there is no current drawn but the circuitry inside the regulator will consume current to maintain its output regulation when ever connected to the load. There it is mentioned as the minimum LOAD current and not as the minimum OUTPUT current.