Yeah that should be just fine. On my 2008 MBPc 15", I use to run a lot of programs and noticed it getting too hot as well. So, I started paying attention to when I would really start having issues and when to activate SMC fan control.
I didn't notice any slowdown in performance or issues until it hit right at 80c. I also noticed with SMC that even with both fans turned up to 6000 RPMs, the temp would still hover between 55 and 65 depending, which was just fine.
So yeah, you're fine. MBP are notorious for warming up a little bit and it's understandable as to why. You shouldn't be damaging your computer in the slightest either or increasing general wear at those temps.