Well, common sense should tell you that if something is labeled as -12v and it's reading a total of -9.40 that that can't be good.
HOWEVER!!! The good news is that Speedfan is horribly inaccurate with voltages and in more cases than not, the temperatures as well.
Check in your BIOS for the voltages as it'll be more accurate, but even in the BIOS it's not perfect.
If you really want to know the voltages you'd need to use a multimeter.
Also, it's fairly common for a psu to have up to 5% fluctuation on the rails, but a good PSU will be within 1-2%