There are software programs that you can install, but they never seem to be as accurate as the readings taken direct from the motherboard sensors.
Because your boot-up shows the temp. you know the board is capable of providing this information so Two ways of doing it would be.
1) at any time during use, you can do a re-boot and go into the BIOS to check your CPU and system temp. But this can be inconvenient.
2) install a front panel display to your Case, this will fit in one of the spare drive bays and give a constant readout of System temp. CPU temp, also speed of all your fans. I would choose the latter. j.