My daughter is four and still can't hold the pencil properly. Is this something to worry about?

What do you mean by "properly", do you mean the way she grips her pencil? If she can write legibly and steadily, it should be okay. I've been told since young that I was holding the pen or pencil in a wrong way (lateral tripod) but my handwriting didn't suffer and it was comfortable for me. Ignored everyone and I still hold my pens the same way (see picture below).