Automating fan speed depends on how you have connected it. Zalman heat sinks sometimes come with zalman fan controller (little black box with a knob to play with) I believe you need the 4 pin fan connector plugged directly into the motherboard to control it using software.
Your idle tempratures seem normal but the load temps seem a little too high for that heat sink.
Reseat the heatsink cleaning off the thermal paste and reapplying (only need a thin layer) and test again.
do you know what your room tempreture was? and what case are you using?