In this case, Google is not interested in the fact that you are using Tor. Google runs some analysis on search queries and they sometimes produce this result.
The background is that Google has to deal with all sorts of abuse; for example, some people send lots of queries in a short timespan to overload the servers. Google checks for this and presents the warning in your question. This can happen when you use Tor, but also when your company uses a central proxy and when lots of users Google at the same time.
In your case, many Tor users probably used the exit to send a search query to Google. Their algorithms flagged that as suspicious, and so you get this message. In the second case, you have the chance to present yourself as a human (solving the captcha) and Google will process your query.
Normally this behaviour changes when your Tor circuit changes. I don't see this very often. However, you can also use an alternative search engine like Bing or DuckDuckGo.