The manufacturer recommended pressures are always cold pressures. You'll only hear people talking about hot pressures when driving on a race track.
Its perfectly normal to see pressure increases from cold to hot of about 3 lbs when driving on the street. If you were to take the car on the road circuit you would see increases of 6 to 10 lbs, and managing hot pressures would then become an issue.
I assume you're seeing the low pressure on the one tire via the TPMS? If that's the case you might want to invest in a decent tire gauge to check it. Could be a bad sensor if its consistently 3 lbs. low.
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