Disks shouldn't look rusty or scored like that - looks like your calliper isn't even working.
The thickness is a judgement call, each manufacturer has their own figure. But you can gauge it, if the lip at the edge of the disk is quite deep - its time for replacement.
Check out how worn the pads are! Remember, replacing the disks, means rear bearings too (not neccessarily new, but the shells need swapping over).