Yes, it's due to invalid or missing digital certificate. If you have a valid certificate you can install to resolve this error. If you have not any valid certificate then simply disable it using the following method.
- VB.NET > Open Project
- Project menu > Select Project Properties (mostly last item in a menu)
- Select Signing Tab > Uncheck the check-box named Install ClickOnce manifests
Now re-compile and run the project. Hope it will solve your issue.