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You handled the situation in the best way possible, and I think what actually happened is a bit more complex than you realize.

I suspect that the officer saw you beginning to pull out as he topped the hill and assumed you had not stopped at the sign and stopped you on that basis. When you told him you had waited at the sign for the truck to pass, he had an "oops" moment. At that point it dawned on him that you must have stopped and waited as you said because there would have been no other way for you to know if there was a vehicle was that far in front of him or whether it was a car or a truck.

A bit of ego likely came into play here, and instead of admitting he stopped you for a violation he now knew you didn't commit he issued a warning to save face without hurting you.

This obviously wasn't the best way to handle it, and he'll likely reconsider the wisdom of stopping folks under ambiguous circumstances, but the good thing is he wasn't willing to falsify a citation that might have gone to court and given him a choice between admitting a mistake there or committing perjury.

This was a learning experience for the officer and a confirmation for you that behaving properly during a stop, even when the officer is wrong, pays off in the best possible outcome more often than not.