Warrants don't expire, so you're going to have to deal with it one of several ways.
Get an attorney that practices back there to clear it up;
Go back and deal with it;
Wait to be arrested on the warrant and possibly extradited back.
The court here can do nothing about it, as there is no jurisdiction. It has to be handled in the court where the warrant is issued.
The DMV is linked to other states and you're likey to face roadblocks in getting a license here if there is a hold on your license from Colorado (likely the case).
Warrants do not "go away" after a period of time. Should you find yourself pulled over on a traffic violation or you are re-entering the country you face being arrested and taken into custody on the outstanding bench warrant. You should retain a lawyer who can have the warrant recalled and resolve the matter.
With respect to obtaining your drivers license; if there is a hold on your license in Colorado another state may not issue you a license. If your license is suspended because of the prior action you may also be cited for driving on a suspended license.
Also depending on the amount of time you have been in California, if you are driving on a license from another state you may be cited for driving without a license. You should speak to DMV to see how long you have to get a valid CDL once you have made California your residence.