A lower exercise heart rate on successive days of fairly hard riding, coupled with tired legs, generally indicates "overreaching" not overtraining.
The terms are sometimes used interchangeably but it’s important to understand the difference. Overtraining is long-term chronic fatigue that could take months to recover from. Overreaching is short-term fatigue. You can rebound in a few days.
Overreaching is what racers experience in a stage race. It afflicts recreational riders, too, during a week-long tour or cycling camp. It can even happen during a spell of great spring weather when you can't resist riding farther or faster than normal several days in a row.
Overtraining is debilitating and should be avoided at all costs. Overreaching, on the other hand, is an effective way to stimulate improvement. If you overreach in a controlled way and then rest enough to recover, it can lift you to a higher level. Then you can repeat the process for still more improvement.
It's when you overreach continually without sufficient recovery that you spiral into overtraining. You grind yourself down to a level where your whole life is negatively affected, not just your cycling.
The symptoms you're experiencing -- lower heart rate coupled with tired legs -- sound like the result of overreaching. It isn't a major warning sign as long as you're recovering well between most of your workouts.