I just ran into this problem. Nuget is expecting a structure that looks like:
root
- lib
- net40
- File1.dll
- File2.dll
- File3.dll
net40 or net20 or net45 as appropriate to your .net version.
run
nuget pack yourlibrary.nuspec
to package it up.
That will pack up the dir wholesale and put it in the nupkg. The error messages will disappear at that point.