That is normal if it is only occasionally. You do need to check the relief valve and see if it is relieving at the right pressure. Mine is a 1300 psi unit, so I set it to pop off at 1000 psi. Many are 600 psi heaters, so you want to make sure it pops off at 600 or less.
The relief valve may pop off if water pressure spikes suddenly, if water has run low in the heater, or if you have run out of water. These are some incidents where the relief valve may pop in addition to the pressure exceeding your preset pressure.