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Swap out your fluid, check for rotor wear on each corner after driving it for some time. If you're able; take off the calipers and verify proper action. More to the point, I think Pad wear, Rotor wear, and close physical inspection of the calipers will give you a better understanding of what's going on.
Having your pedal go to the floor is not a good sign, but I think should be easily remedied by flushing the fluid. Note any particulates in the fluid as it may be an indication you'll need to replace lines, cylinders, or any other number of the hydraulics.
Also verify that the rear calipers are not locked or improperly adjusted e-brake, as wear may be a significant result--though if you're pads or good you'd know if your rear was grabbing too much.
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