Look the free body diagram here, $F_{\mathrm{c}}=\frac{m{v}^2}{R}$, where $v$ is orbital velocity.

It means, 

$F-N=F_{\mathrm{c}}$

$\Rightarrow G\frac{Mm}{R^2}-N=\frac{m{v}^2}{R}.$

The formula of orbital velocity,

$v=\sqrt{\frac{GM}{R}}$, it means,

$\Rightarrow G\frac{Mm}{R^2}-N=\frac{m{\left(\sqrt{{\displaystyle \frac{GM}{R}}}\right)}^2}{R}$

$\Rightarrow N=0$, so zero reaction force by satellite surface.