You only really need to calibrate once. Typically the laptop chargers let your battery drop below even 96% before charging up again to 100% (mine is at 99% right now too). What is important is that this is still very close to what your max capacity is. I think you are fine.
According to iStat, my battery tops at 98%, the apple menu says "battery is charged". Your good as long as the battery doesn't stop charging beyond 80% or doesn't retain the charge.
Sometimes it doesn't hurt to calibrate the battery again. I did it yesterday after initially doing it when I received my Macbook.
Here's what it shows now.
It is true that MBP's battery will not charge until it is less than 94 or 95% or so. There is an Apple document about that.
I was searching through the Apple Support forum for this problem as I initially thought that there was something amiss about the battery. Well, I was reassured that there is nothing amiss at all.
If your battery is giving you less than 70% of the apple spec, you can get it replaced. Check your times for a couple days, if it doesn't get better, a visit to the apple store may be your best option.
Well... Mines never ever been 100% (5600mA), not on this replacement battery but the system always seems to charge it to 100%, the figure there is about 95% of the total capacity - I don't mind, so long as it stays there!