If you changed your router's admin password (one of the tabs on the setup web page in the router), disabled remote management (on the Advanced|IP Filters page) and disabled WAN requests (also on the Advanced|IP Filtering page), you're 99.9999% safe from anything coming in from the outside. And remember, in order to even FIND your router, an intruder would have to locate your current IP address-most of us have a dynamic IP that changes from time to time, so that's a reasonably remote possibility.
Note that the PCWorld article points out that "In most situations, the attacker would need to be on a PC connected to the network to execute an attack. However, if the router has a 'remote management' feature enabled, a malicious hacker could execute an attack from anywhere on the Internet by entering the IP address of the router along with the name of the script into his or her Web browser, said the security firm." That means that, unless you've actively opened yourself to these attacks, and unless you don't trust the people on YOUR OWN LAN, that you shouldn't have too much of a concern.
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