Gateway desktop computer with windows XP will only work after started up in safe mode?

Lately Ive tried to boot up my computer. In the boot up process I get this message

"We apologize for the inconvenience, but Windows did not start successfully. A recent hardware or software change might have caused this.

If your computer stopped responding, restarted unexpectedly, or was automatically shut down to protect your files and folders, choose Last Known Good Configuration to revert to the most recent settings that worked.

If a previous startup attempt was interrupted due to a power failure or because the Power or Reset button was pressed, or if you aren't sure what caused the problem, choose Start Windows Normally.

Safe Mode

Safe Mode with Networking

Safe Mode with Command Prompt

Last Known Good Configuration (your most recent settings that worked)

Start Windows Normally"

I will select Safe Mode so the computer will start up in safe mode. Then once the computer is in safe mode I will turn off the computer then turn it back on. Then when the computer comes back on, it goes through the normal boot up process and it doesnt show that message from earlier. Then I can use the computer normally. So why do I have to boot up in safe mode for my PC to work properly.