Hi Scotty, My wife's 2012 Mazda3 has 120, 000 kms (75,000 miles) needs replacement brake pads. I am considering replacing the rotors too.
What is the minimum thickness for rotor thickness?
I can't find it in the owners manual and Chilton nor Haynes have made a manual for a 2012 Mazda3.
I would just look at the rotor from the side. If there's still meat, and if the brakes work... keep driving.
This is a worn out rotor:

@inthrustwetrust
That was a post from 2006.
Would the specs be the same for a 2012 or could it have changed?
If they are warped replace them. If they have never been replaced before at 80,000 miles replace them. Rotors are so cheap now and its very difficult to find someone to turn them that you might as well just replace them if they are causing problems.