Hello and I apologize if for the slightly basic question, I simply could not find the solution in google.
I entered the command: docker images
to be able to see the installed images and I miss this error.
Docker has an API to query images, containers, CPU consumption, etc. Port 2376 is the one that by default uses docker for its consumption. According to the error I realize that the connection to the server for the query of the API is being done by https and the problem is that the certificates have already expired. Check the variable DOCKER_CERT_PATH
or the certificates you are implementing for the connection to the Docker Machine
If you are using boot2docker, maybe this will help you.
boot2docker ssh
sudo ntpclient -s -h pool.ntp.org