Could I be singing off-pitch but on key?

Recently, I discovered when I sing along to music on the radio, I can find a comfortable way to sing the song and it sounds in harmony with the song itself. However, it seems I may be singing a little lower than the pitch used by the artist. I found this especially with female artists but often times male artists... show more Recently, I discovered when I sing along to music on the radio, I can find a comfortable way to sing the song and it sounds in harmony with the song itself. However, it seems I may be singing a little lower than the pitch used by the artist. I found this especially with female artists but often times male artists too (I guess I sing pretty low...).

Could it be I'm singing off-pitch but on key? What is that called? Could you explain how that works?

Thank you!
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