Edit (1st September 2018): see a quick distinction of the GEO files, here: A: Parsing values from GSE file
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With your first chunk of code, you are obtaining the 'series matrix' data, which, in the vast majority of cases, is already normalized and transformed by log (base 2). Your object data is stored in an ExpressionSet object, which is the standard way to store microarray data:
data <- getGEO('GSE2034', GSEMatrix=TRUE)
data
$GSE2034_series_matrix.txt.gz
ExpressionSet (storageMode: lockedEnvironment)
assayData: 22283 features, 286 samples
element names: exprs
protocolData: none
phenoData
sampleNames: GSM36777 GSM36778 ... GSM37062 (286 total)
varLabels: title geo_accession ... bone relapses (1=yes, 0=no):ch1
(28 total)
varMetadata: labelDescription
featureData
featureNames: 1007_s_at 1053_at ... AFFX-TrpnX-M_at (22283 total)
fvarLabels: ID GB_ACC ... Gene Ontology Molecular Function (16 total)
fvarMetadata: Column Description labelDescription
experimentData: use 'experimentData(object)'
Annotation: GPL96
You can proceed to downstream analyses with this data, accessed via exprs[data[[1]]]
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Note that, on the home page for GSE2034 (HERE), there's a big blue button at the bottom labelled ANALYZE WITH GEO2R

Click on that and then go to the R script tab. There, you'll find a ready-made way to read in what is [usually] the normalized data.
Kevin