There is no magic mileage that brakes go bad. It all depends on how you drive.
Here's a good picture of a worn pad vs a new pad. Credit to c3club.org.
http://c3club.org/builder/img/brakepads/DSCN2834.jpg
The 'disc brake' and the 'pads' are one in the same. They are 'brake pads' for your disc brakes.
It's a good idea to replace the pads when they are worn BEFORE they start to squeal or perform poorly. This prevents you from damaging your rotors. Rotors are generally equivalent in price or more expensive than the pads. Just because you don't notice a problem does not mean that the brakes are fine.
Pic of rotors (new vs damaged- rotor on left is worn and damaged):
http://www.thesaabsite.com/20050709l.Old_and_new.jpg
Credit to the saabsite.com for the pic.
Your brake pads with a lifetime warranty are 35.99 at my local autozone.
Your rotors (EACH) with a 2 year warranty are 34.99 at my local autozone.
Parts for this job would be 71.98 for pads, 141.96 for pads and rotors (minus labor).