The normal samples are from blood. So unlikely they are contaminated from tumor tissue.
low level of mutations in tumor can be explained by heterogeneity of tumor. But why do we have a lot of very low level of mutations in blood? a lot of times, at the genomic locations where we have very low level of mutations in blood sample do not have any mutations in tumor. Can we explain these as sequencing errors? But if the color of the mutations indicates phred score on IGV, I think some of the mutations have very high phred scores.
IGV figures on publications seem very clean. They do not seem to have much noise.

To answer first question, if your matched normal comes from tissue adjacent to the tumor site, there are chances that it is contaminated with tumor cells and this is why probably you are seeing reads for mutated allele in normal sample. But its okay if you find few reads. As Chris mentioned in his answer, somatic callers are tuned for this kind of noise.