your stereo is putting off a slight sound through your amp(normaly not percievable) but the amp (obviously) amplifys that small current and you will hear it through your subs, try turning down the gain on your amp and see if that helps it. When you turn your car on and off does it thump??? If you answered yes then you will need to get a new deck probably. The sound is not damaging to your subs so there is no hurry its just really annoying.
Good luck
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