This is the tire gauge I bought recently. My Mazda tech has the same one and really likes it and says it's very accurate. It gets great reviews on amazon and even has a thread depth gauge, which I did not have before.
https://www.amazon.com (commissions earned)
Any of the Accutire gauges are a good option but I liked this one because it was small enough to also fit inside the disc brakes on my motorcycle rims to read the pressure.
I would go ahead and let out some air in the morning before driving and set all the tires to 34 psi, cold. Then as MikeM said, reset your TPMS by turning the ignition on (two presses of the start button without your foot on the brake) and hold the TPMS button on the left hand side of the dash until you hear the beep.