InnoDB: Error: Table “mysql”.“innodb_table_stats” not found after upgrade to mysql 5.6

Question

I upgraded to mysql 5.6 from 5.5, and now my logs are littered with such messages on startup

I found a possible solution here, but it does not seem official. http://forums.mysql.com/read.php?22,578559,579891#msg-579891

2013-12-06 21:08:00 7f87b1d26700 InnoDB: Error: Table "mysql"."innodb_table_stats" not found.
2013-12-06 21:08:00 7f87b1d26700 InnoDB: Recalculation of persistent statistics requested for table "drupal"."sessions" but the required persistent statistics storage is not present or is corrupted. Using transient stats instead.
2013-12-06 21:08:07 7f903c09c700 InnoDB: Error: Table "mysql"."innodb_table_stats" not found.

Any official solutions or 100% fixes?