No, you don't need to replace them if they have a good surface finish, no significant wear lip on the outer edge, and they are above the minimum thickness (which is stamped on the rotor).

However, it is good practice to replace them.

If you don't, you may be going back in to them to change the rotors and buy another set of pads. Or they may be fine. Shops know that, and will encourage you to buy the rotors as well because if they are noisy afterwards, customers often expect the shop to pay for the rework.

I generally change my rotors (especially at those miles), even though I am doing it myself and there is no labour charge involved, because I don't like having to redo work.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue