I too, replaced my pads around the time the light started flickering during braking. Noticed that there was still just under 1/2 of good meat left on the pads, but what the hey!? Cheap and easy job, and another several thousand miles of sure-footed braking ahead!
2009 ML350 (84K) - Family vehicle
2001 CLK430 Cabriolet (71K) - Wife's car
2005 BMW 645CI (124K) - My daily driver
2012 Mustang V6 (60K) - Daughter's car