I set up my iPhone 5s to use the fingerprint ID sensor. But now when a text message comes through and shows up on my lock screen and I swipe it, I have to enter my four digit password to then go to the home screen and get my message. Is this normal?
With touch ID being activated your phone locks immediately, so you can't slide the notification for it to open directly up. It'll go to the PASSCODE screen and you'll put your finger there as you normally would while unlocking the screen.
Like Tim said when you receive a text message and you can get it right away when the pop up comes up you can dismiss or read. If you miss it, Just hit your home button once, Then hold down your thumb if like me to unlock your screen and go to the app, No numbers need to be punched.