Are you able to capture an image of the pop-up, e.g. is the the Trend Micro RUBotted alert that this topic is about ?
Though even if it were then it is strange that it would be every time you open firefox, where is firefox trying to go when you open it ?
It could be that you have malware on your system that is trying to get to a site to download more malware and that is being detected by whatever is doing the detection (which isn't clear yet).
There have been a number of other anti-spyware tools and some on-line scanners mentioned above have you tried scanning your system with any of them ?
If you haven't already got this software (freeware), download, install, update and run it,
preferably in safe mode and report the findings (it should product a log file).
1.
SUPERantispyware On-Demand only in free version.
2. MalwareBytes Anti-Malware, On-Demand only in free version
http://download.bleepingcomputer.com/malwarebytes/mbam-setup.exe, right click on the link and select Save As or Save File (As depending on your browser), save it to a location where you can find it easily later.
On-line Virus Scanners and other useful Links
Security-Ops.eu.tt New on-line scanner
http://www.eset.com/onlinescan/You could also use an on-line scanner to confirm, established connection to the on-line scanner of your choice and just before you do the scan, pause Standard Shield, enable after completion.