Yes, when your MacBook Pro is on, the fans always run.
Doesn't matter about the temp, as the fans are simply running - idle at low CPU use, or low temps. Usually less than 65C (150-155F) would be considered low temps, and the fans will not usually be much above idle then, maybe 2000 to 2500 RPM. Hi temps above 180F, or higher CPU use would make the fans run up to max, usually 5500 to 6000 RPM. You hear fans run at that speed.
Your reported temps are not high temps.
But, the fans always spin, even at idle. They are never off, unless the laptop is sleeping or completely shut off.