Putting Wittgenstein to one side for now, I can attest that Akeel Bilgrami, following Davidson, has stated explicitly that "normativity is irrelevant to the meaning of words" ("Norms and Meaning"). Here, however, I would like to give some reasons why such talk of using words wrongly is perfectly natural, and, more importantly, can be harmless even by Davidsonian lights. That is, it will seem at first that in helping myself to properly semantic normative considerations, I invite the Platonism which both Davidson and Bilgrami correctly reject. My task will be to show, or at least suggest, that in so doing I issue no such invitation. (Bilgrami actually does qualify his claims somewhat, but not in the way I would prefer. I'll say a bit about this at the end.)
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With that in mind, let's say I work at a zoo (a real zoo, that is). I've spent the morning admitting an ocelot: having it checked for the standard ocelot parasites, feeding it ocelot food, cleaning out the ocelot cage, etc. At lunch the conversation centers around lynxes and ocelots, and I mention that the lynx I admitted today had some interesting markings. You've seen the animal in question too – maybe you received delivery and glanced in the cage before signing – and you reply: "Lynx? You mean ocelot, don't you?" My response: "Right, the ocelot." In other words, I don't bat an eye, but simply acknowledge what we would call a slip of the lip. My belief is fine: I knew all along it was an ocelot – that's why I did all those ocelot-specific things – but just now I made a semantic error. I simply came out, as does Michael Palin uncontrollably in a certain Python skit, with the wrong fusebox.
In particular, I attempted to express my (true) belief that the cat was an ocelot, but in so doing, I misused the word "lynx," which after all means lynx, not ocelot, and therefore cannot (or so it seems; I consider a qualification below) be used correctly in expressing beliefs – true or false – about ocelots rather than lynxes.
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Again, in referring to the "lynx" as I did, I expressed my mistaken belief that the cat was a lynx; but in order to do that by so speaking, I must have been using the word "lynx" correctly – to refer to lynxes, which the cat in question was not.
Now for some clarifications. My point here is certainly not that we must speak in this way – that the first really is a case of properly semantic error as opposed to the latter, a clear case of properly doxastic error. So already some peace can be made, as I take the Davidsonian point to be mainly that there can be nothing which forces us to speak this way. It's just that the natural way to make that point is to make sure to speak the other way instead, referring in all cases to doxastic error only, rather than semantic error; and I grant in advance that even this example can be spun that way if you like, as again no force was intended. I simply think there's no real reason not to speak of semantic error in particular cases if we so prefer, and that it can in fact be salutary to remind ourselves that that possibility is open to us.

Yet these are mere suggestions, at least in advance of further investigation. After all, maybe the former of these responses acknowledges a false belief (if one I regard as unimportant and easily corrected), while the latter confusion about lynxes can also be construed as instead concerning the proper referent of "lynx," a semantic matter.
Now for the moral. The trick here, in my view, is to see two things at the same time. First, "using a word properly" ("having the concept") has (at least) two aspects: first, the semantic part: getting the meaning right; and secondly, the epistemic part: getting the world right. Secondly, on the other hand, these two things, while not identical, are very closely related, indeed interconstitutive, rendering interpretation (determination of meaning) more complicated than simply checking the dictionary to see if a speaker has used a word "correctly." It is in this anti-Platonistic sense only that such obligations are, in Bilgrami's not entirely univocal terms, neither "sui generis" nor "intrinisic."
Sometimes we will emphasize one of these two points rather than the other. For example, we sometimes say that knowing the meaning of a word is knowing how to use it correctly, where the paradigmatic example is that of using the word X to correctly identify X's. If someone says "that's a lynx" when and only when in the presence of lynxes, he most likely knows what "lynx" means. Similarly, when we are teaching someone a word, especially children, we test their understanding by seeing if they do the "appropriate" thing, e.g. apply "doggie" to dogs and not to ferrets, or responding "five" when asked to "add three and two."
This can make it seem that what we have here is a single determination – one of the meaning of a subject's utterances – which is determined behaviorally, by seeing if the subject makes correct judgments. The idea is that knowing the word (having the concept) "add" just is to add correctly; and knowing (the meaning of) the word "lynx" just is identifying lynxes correctly. But this leaves no room for going on to claim a distinct notion of semantic normativity over and above that involved in judgments that things are thus and so, a doxastic matter (Bilgrami is correct that McDowell can be careless on this point).
In other words, this conception of the relation between belief and meaning puts them too close together. In response, we point out that while I can indeed express a false belief that that cat is a lynx, I must, in so doing, be using the word "lynx" in its proper meaning – to refer to lynxes. Recognizing the conceptual distinctness of the two components restores the proper flexibility to an interpretive process which requires us, in standard cases, to attribute beliefs and meanings simultaneously. This reflects the internal connection to the learning process, in which, in learning "how to use words," we learn both what they mean and a whole bunch of truths about the world: what "lynx" means and what lynxes are, and what "add" means and how to add, without those two amounting to (exactly) the same thing.
On the other hand, however, we don't want to think of belief and meaning as two different phenomena (or things) entirely, in the sense of being determinable by separate processes (instead of the single complex process of interpretation cum inquiry); instead, again, we need to see them as interconstitutive.
According to Davidson and Bilgrami, we risk doing this when we speak of "linguistic norms" at all – that is, as in any way distinct from the doxastic norm of "getting things right." To do so makes it sound like meaning is determined not in the interpretive process itself but instead by allegedly independent facts about, say, English: given the actual dispositions of English speakers, on this view, if I make the sound /links/ (or inscribe l-y-n-x), then I necessarily thereby refer to those things (i.e., lynxes) – no matter what an engaged interpreter may say – simply because "that's what 'lynx' means in English." This semantic Platonism makes utter hash of the holistic Davidsonian picture, and is what provokes Davidson to declare, famously, in "A Nice Derangement of Epitaphs," that "there is no such thing as a language, not if a language is anything like what many philosophers and linguists have supposed."
(Let me just give a bit more from that article. The quote continues: "There is therefore no such thing to be learned, mastered, or born with. We must give up the idea of a clearly defined shared structure which language-users acquire and then apply to cases." Earlier on, he says that to say this means that "we have abandoned not only the ordinary notion of a language, but we have erased the boundary between knowing a language and knowing our way around in the world generally"; or, as I would say, between meaning and belief. "Erasing the boundary" in this way, however, sends us back to the first point – that we must not think of these things as identical or simply reducible to the normativity of belief. The two are not dualistically opposed, but distinct.)

Bilgrami does suggest that "norms" of meaning could be salvaged if construed as the "extrinsic" prudential norm of "speaking as others do" (rather than "speaking rightly"), or the hypothetical imperative of "... if you wish to be understood." But while prudence is indeed a part of the interpretive picture, I think, for the above reasons, that even properly semantic normativity (if not "norms") can be unobjectionable. But there's a lot more to say about that, so I'll leave Bilgrami's views for another time.