Low Foetal Heartrate

Rachael
So yesterday I went for my fortnightly check up at the doctors, I'm 33 weeks + 6 days today. 
I just got a little bit worried when the doctor checked bubs heart beat and it was 95bpm, I've heard that they don't like it to be any less than 100bpm. The doctor did say the baby could be sleeping and he put some pressure on bub and she started moving and her heartbeat picked up to about 130-145bpm which was reassuring. 
The only thing that keeps bothering me is when I asked the doctor if this is normal he didn't really give me a direct answer and just said "if you can't feel any movements make sure you ring me asap" 😥 
Just wondering if anyone else has experienced low foetal heartrate?