If it starts then I would assume its fine but I would do the checks of hoses, probably replace the thermostat for all it costs, hopefully it will be ok.
My Discovery 3 did something similar the other night. Saw the steam coming from the engine, checked the dash and saw the low coolant message, checked the temp and it was starting to climb, as soon as it started to climb above normal I pulled in and called the AA, not taking any chances.
Turned out to be a hose that came loose! Quick fix in the end, jubilee clip and a top up of coolant!