I noticed Zoom in your screenshot. Running that application (or Teams) drives my 2017 15" MBP to high temperatures too. I guess it’s “just” bad programming on Zoom’s side.
I’m also running the 16”. I do notice it to be fairly aggressive with kicking on the fans even with modest CPU usage.
Based on your screenshots it looks like your temperature is all right so perhaps look into software that will let you manually control the fan speed if it bothers you.
I use it hooked up to external monitors so I don’t feel the heat on my hands so much but when I do put my hand on the keyboard I can feel it is typically somewhat warm. However that doesn’t mean that the system is operating at it unsafe temperature or a temperature that would cause performance throttling.
Ambient room temperature also matters. On hotter days I noticed the fan is sometimes on more.