My 5870 CF setup heats up the bottoms card about 5-10C more than the top card, but if you have good airflow you will be fine, I have yet to see my cards' fans go past 37% even under full load for many minutes. These things are dead quiet, and idle very low temps and load temps are also excellent.
Your cards temps are fine, as bruzzes said, listen for the fan to crank up super fast, then you know your temps are getting kind of high. You can always combat that with setting the manual fan speed up a few notches.