Not normal. Two possible cures. First, if your house has a pressure regulator valve, it should also have an expansion tank. If the expansion tank fails, then when the water is heated and expands, it has nowhere to go and will cause the TP valve on the heater to leak. Second, if you do not have a PRV and expansion tank, then the TP valve is leaking and should be replaced. A new one is less than $15 at any hardware store. To replace, turn the water to the tank off, drain the tank down just a little, take the length to drain pipe off the old TP valve, unscrew the TP. The new one installs in reverse. You need to use pipe dope or teflon tape on the new one when you install it. Turn the water back on, check for leaks, and have a beer.