I can confirm that upgrading to version 10.0.1 as per the article does remove the error. Please note this only impacts servers that run the HP customised ISO / HP installed management agents with the impacted versions as listed in the KB.
Wednesday 22 October 2014
If you find that you can't suddenly remote ANY VM's on a host and are given a "Cannot connect to MKS" error and trying to do anything on an ESXi console generate a "Cant Fork" error, then you need to upgrade your HP management Agents on your HP ESXi servers. This error impacts version 5.0 and upwards and is outlined in KB2085618