Generally, yes, replace both. However, I do look at a few things in my cars to make that determination. If this is the first set of pads on these rotors AND the rotor surface is smooth AND there was no vibrations/shuddering when braking, I will keep the same rotors. Also, I will measure the thickness only if there is a significant ridge at the edge of the rotor. This is rather subjective, so feel free to measure anyways. If you don't have dial calipers, the Autozone type stores will measure them free. Some regular calipers will do if they have a gap to measure round the ridge that developes from the pad wear on the rotor.