The chameleon is showing normal behavior for warming up when it is cold. They are really amazing if you think about it. They darken to absorb heat more effectively from light, and they tilt toward the light so more surface area is exposed to the heat source, and then they will even flatten out so their core is spread thin and heats faster.
Temperature guidelines are only that- guidelines. Humans don't decide what temperature the lizard wants and needs. The lizard decides and already knows and uses instincts that have proven effective for countless generations of ancestors survival. Thermoregulation is as basic an instinct for a chameleon as feeding and drinking, and just as essential to it's survival.
Of course, then there are other issues that come into play when the lizard lives in a terrarium.
The first is the ability of the owner to provide the heat the lizard wants in a way that the lizard can understand. Lizards use their core temperature, not their surface temperature to guide their thermoregulatory behavior. So what this means is that if you have a cold terrarium (say 70 degrees background temperature) and then a single hot point under the light where the temperature reads 95, your lizard will most likely burn it's outer surface while waiting for it's core temperature to rise. Skin heats up much faster than the muscle, etc, beneath.
So, if you want to cater to your chameleon's desire for heat, you have to understand how to provide it in a natural way- natures way is to provide a gradient- a gradual change from deep cover where it is cool, to full sun where it is hot. The chameleon has a lot of options between the 2 extremes and moves a bit here and there to regulate temperature, not in and out of full sun and full shade. So a single hot spot in a cold terrarium is like an on/off switch and is very unnatural- lizards will try to use this option if that is all they have, but they don't have the ability to move away when surface temp is too hot and is burning them. Especially if the burning is very mild and occurs over time.
So, if you don't know how to properly set up a heat gradient, you are better off going with temps no higher than upper 80s so burns do not occur.
IMO however, if you aren't sure it is better to learn about thermogradients and figure them out (without risking a lizard- can be done in an empty terrarium).