Rotors are not expensive, and they must be replaced periodically, but why would you replace a caliper? I have never had to replace a caliper, only the pads.
Just take your vehicle to any decent brake place and ask for premium parts (Ceramic brake pads are much better than organic), it will likely be cheaper than the dealer, and you're leaving the job to someone who knows what they are doing.
depending on the mileage and when you last had it done, you may want to have your brake fluid changed.
I paid just under $300 to have my front brakes done earlier this year. New rotors, new ceramic pads on both sides. A little while later I took it to the dealer for recall work, and had them replace the brake fluid for $90 (probably would have been cheaper if I took it to the same place I had the brakes done).