Is it possible to have poor blood circulation even if you have a normal heart rate and blood pressure?

Yes. Build up of plaque in arteries most commonly comes from smoking and diabetes. Patients can have normal BP and hr in both these settings.
Yes. While heart disease and arterial disease are strongly related, heart rate and blood pressure alone are not necessarily related. A history of angina or heart attacks is related and if present should make one be more suspicious of arterial disease in the legs or carotid arteries.