If you've fixed the fault for sure, then the EML light should extinguish after a while.
Usually about 50 miles, or a number of stop start cycles.
Basically, when the ECU believes the fault has gone for sure, and is not coming back, it will turn out the light.
However, even though the car may be running right, or you feel that it's running right, the ECU might say otherwise, then no amount of the above will clear it.
The ECU is monitoring hundreds of components, it only takes a fault on one to put the light on.
The only way you'll know is to have the codes read, note them, clear them, and see if the fault comes back.
Incidentally, the single yellow light means that 1 or more of about 2000 errors has been detected.