Do you learn on work time?

This is part of working and improving yourself, your company benefits from this. Have you ever heard the quote: "What if we train them and they leave? What if we don’t and they stay?". As long as it is relevant to your job and you're getting your work done, I wouldn't worry too much about it.

I can't imagine a job in which it would be possible not to. Driving a tractor? Shovelling cow dung? You can get better at both of those while being paid to do them. For some people like students, teachers and researchers, learning is the job.

> While I do more than my 40 hours every week I still feel guilty.

Guilty? Did you murder someone? Rob a bank? Cheat on your taxes?

> Is this normal?

No. Consider talking to you boss and colleagues about skills, training, research, innovation and how the company rewards you for your autodidactic initiative. If that doesn't work out and your boss just wants you to mop the floor, consider looking for a job where you feel more appreciated and free to grow.

In the past I have felt like this is goofing off and needs to be done in my time

I strongly suggest you reconsider that position if you hold to that in any way, shape, form, or fashion. Learning is absolutely part of your job. And if people (eg management) in your organization tell you otherwise, leave and go work somewhere that isn't run by morons.

You shouldn’t feel bad for learning at work. It’s essential. Also, don’t work a second more than your allotted hours.

Yes.