Yellow goo on oil cap. Should I change the engine oil?

I just did a oil change back in August with full synthetic 0W-20 and a new filter. It's been getting cold recently and upon opening the oil cap on my Honda, there is yellow goo on the cap. Antifreeze level is the same as usual(not blown head gasket). Car has no oil leaks what so ever.

Should I change the oil because condensation had formed in the oil case? On my last car I didn't and it ended up ruining the oil and blowing the piston rings, but is it possible to just drive til it's burned off?

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