It is likely that it did ferment a touch lower than the recipe. Yeast will do what yeast will do, so a bit of a difference is of no concern.
In the future it is current thinking to wait until you have reached final gravity before transferring to secondary, if you do one at all. But that is another thread.
To determine final gravity you wait until all signs of fermentation have stopped take a gravity reading, wait 24-36 hours and take another reading. If they are the same and near predicted, it is finished.