You definately need a fluid bleed and top off. Like mentioned earlier, the light came on because of low fluid, and you should also bleed the lines because brake fluid absorbs water so you want to keep it relatively fresh like every 2 years at minimum I would recommend. Brake pads you can check if you have a small mirror. I changed out my brake pads for more agressive ones at 15k miles and my stocks still had over 3/4 of the original pad left. Rotors may need resurfacing, but if you dont' feel any vibration under braking, I doubt you need to do anything to them.
Forgot to add if you do replace your pads, make sure you bed them in. Should be a good link in the sticky thread in the brakes/suspension forum.