Before you had kids, did you have any idea you would talk about poop so much?
You could ask your ped just to be safe, but I think I would look at the consistency (TMI) of the poop more than the frequency. Is it soft, is it hard, does it come out as a bunch of small balls. When our kids start having the hard or bunch of little balls, we try to increase fluids and add fiber. Our older son has always required a bit more fiber in his diet than our younger son. Who knew?
My kids also generally poop once a day and sometimes twice. Rarely does a day go by that they don't poop. But I'm no expert, and I thought I heard that some kids simply don't poop every day. If it were my kid, I would probably try not to worry but ask the next time I had a chance.