Disclaimer: Links on this page pointing
to Amazon, eBay and other sites may include affiliate code. If you click them and
make a purchase, we may earn a small commission.
Unless warped or cracked your rotors probably are fine, 5 minutes of normal driving will clear minor surface rust from the pad contact area. Most brake pads have an audible wear indicator that makes them squeal when they are worn down enough to reveal the indicator.
+1 on taking a look at the pads and caliper pins.