I have almost the same laptop (HP DV5Z-100 with 4GB, Win7) and almost the same exact problem. I'm new to laptop hardware. I've built tons of regular PCs but to be honest I've never had to troubleshoot heat issues. This thing got hot enough that I bought a laptop stand (piece of metal basically) to give my legs some protection because I'm a paraplegic. I did this after it burned me bad enough to leave a blister once..
Of course HP said, "we don't call it a LAPtop. It's a NOTEBOOK. It isn't designed to set on your lap....." I understand but it is a bit frustrating.
At CPU load of only 10% or so I watch the CPU temp hover around 70 to 80C. The bad thing is when you close the lid and leave it going for a while you would expect it to get cooler but when you come back and lift the lid the keys are hot. Not too hot to use but uncomfortable hot. I've had to use it for work but no one else in my house will use it unless it is their last option. I like everything else about the laptop but the heat and of course the battery life.
I turned this into HP originally and they said it had a loose heatsink. I thought it would fix it for good but I don't know if it did anything. My warranty ran out so I'm on my own at this point. If someone can help I'll be glad to load pics to a site. I haven't seen my laptop go to 95C but I haven't watched the temp for long. I just know it has been very hot. My house stays fairly warm due to the wife (around 79F during the summer) but none of my other PCs have an issue at all.