Does it ever heat up even when idle?
I had a similar problem, but I had an extra "symptom".
Check the ground under the engine to see if there's any coolant leaking on the ground.
That happened to me a few times and I freaked out.
One easy cheap thing to do to rule out a possibility is to burp and flush the cooling system.
One the engine is cold and there's no pressure on the main rad. hose, take off the rad. cap and start the engine. If you have pressure or air stuck in the system somewhere, after a little bit, you will see bubbles popping out. Then, when done, turn off the engine and drain the radiator. Finally, replace the coolant into the radiator with the proper water/coolant mix.
Hope this helps. It may not be the answer to your problem, but it's a start and it's not that hard to do.
The sound you are describing, however, sounds just like what mine sounded like and this solved it.