the fact you are taking medication wont mean you'll need a visa, but other factors might ie nationality, previous convictions country of origin etc.
You might need a home office letter or licence for some medication to some countries but not in the situation you are descrbing
There is a question on the visa waiver form as to whether you have a communicable disease or a physical or mental disorder.
I've no idea as to whether an underactive thyroid counts as a physical disorder for this purpose.
However the Immigration Officer isn't going to know you have it, and customs don't (on the declaration form) ask about prescription medicines so really I don't think you will have any problems