Normally laptops run pretty hot. 95C seems a little on the warmer side than normal, but is still within the capability of the CPU to handle. The maximum temp the CPU can handle is 100C. If 95C makes you uncomfortable there are a few things you can do. The easiest is to turn down the AC in your home. Easy, but it makes a difference to lower the ambient temp. You could also just try raising the laptop so more cool air can get under it. Next is to get a cooling pad and force some cool air into the bottom of the system. for some people this is all it takes. The next most difficult is to download Intel's Extreme Tuning Utility and undervolt the CPU. Basically you are telling it not to use as much power but still try to perform the same. Some people swear by it. I've not had great luck with my 7700HQ. The most difficult thing is to change the thermal paste. I changed the thermal compound on my laptop and it helped drop temps by 8C. Sometimes it is the stock material, in my case it was the stock application. It looked like a blind person tried to apply it in an earthquake. Some people swap the thermal paste for liquid metal and that stuff is utterly amazing. It is also the most dangerous way to cool a laptop because it is metal, and it is liquid, and if it leaks out it can kill your computer.
There is no problem running it the way it is. These things are designed to handle the conditions they run in. You'll probably be fine doing nothing, but in general the cooler things can run the longer they will last. So, it is up to you.