I think the drop-out voltage is the voltage where the relay is guaranteed to open. So it is not the minimum safe voltage to hold the relay, it is the maximum safe voltage to ensure the relay doesn't hold.
Basically, you need to go above the pull-in voltage plus a safety margin to ensure the relay closes, and you need to go below the drop-out voltage minus a safety margin to ensure the relay opens. The relay will generally hold closed between these two limits but it would be a bad idea to go too close to the drop-out voltage if you don't want the relay to drop out unexpectedly.
The nature of the drop-out voltage is highlighted by the datasheet referenced, where the drop-out voltage is quoted as 10% of 24 V, i.e. 2.4 V. They are saying if you drop the coil voltage below 2.4 V you are guaranteed the relay will drop out.