Iirc, Mazda's oil change regimen is 6 months or 7,500 miles for most driving conditions, whichever comes first. So, if the warranty isn't trashed already, I'd change it asap and go by those guidelines.
Even if the warranty wasn't a consideration you don't know if those 2,020 miles accumulated with constant short-tripping or not so a change would be in order. And, it's a direct-injection engine so potential fuel dilution is yet another incentive to change now.
I think your Mazda has the option to deviate from a simple months/miles schedule to one following an intelligent oil life monitor, but it has to be selected by the owner. You may want to consider this going forward.