perhaps the caliper is dirty inside
the dirt in the grooves in the brake caliper (and on the back of the rubber ring) presses the rubber sealing ring of the piston onto the piston´s surface, which means that the piston is no longer as free as when everything is pedanically clean
disassemble the caliper completely, make a deep cleaning and the problem should be solved.
(is due approximately every 30-35,000 km)
but remember - sometimes you can hear a very little noise of "touching pads" - a very quiet grinding
this is normal - the clearance between pad and disc is usually only around 5/100 millimeter
so as not to make the brake pedal "way" too long.
front and rear = same clearance, same probs with dirt (at the gen1´s front)