Clicking, beeping, and failing of 13" MacBook Pro HDD

I have a 13" MacBook Pro that uses a 250GB Hitachi HDD (model: HTS545025B9SA02, revision: PB2AC60Q).
For the past month or so, I have started "docking" the laptop. That is, I use external keyboardmousedisplay and close the lid of of the MBP. That is when I notice the occasional clicking (I believe it's because the head is parked, similar sound to when you pick up the laptop too fast. But this noise happens with zero vibration in the environment) and beeping. At first, it did not bother me much but it happened more frequently. At one point, I was transferring file from the laptop to a networked machine and the laptop made louder "reading" noise (my drive is under 40% used).
Given these events, I downloaded the S.M.A.R.T util from Apple and it says it is "FAILING." Is this a good enough justification to take it to the store and ask for replacement (under warranty now)?
One more significant observation is that when I use the external display AND the laptop display, the clicking (head parking) noise seems to disappear. It seems the firmware is not ready to operate the computer when lid is closed but connected to external display?
Thanks in advance and I hope this is not too much rambling.

Yes. If SMART says it’s failing, it is failing.

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