Trucks have these beeper things that annoy the hell out of me while they are reversing. One of these may do the job - might be able to change a component to delay the beeps to give you want you want.
I put a LED on the wall in the Family Room where it was bloody obvious so we remembered to close the door. Sometimes we do want to have it open - while unpacking shopping and things like that.
I just hooked up a reed relay, picked some power from the burglar alarm and jammed the LED into the panel of the alarm controller. The hardest part was keeping the reed magnetically isolated from the metal door.
You should not drive away unless the door is properly closed, so an alarm in the car while the door is open is another little project you can work on in your spare time.
Best wishes.