Do rotors need replacing with new brake pads?

It’s good that you queried the advice, because I think it’s poor advice. It’s not standard to replace the rotors every time the pads are replaced. The rotors should be checked for wear when the pads are changed, and they might well need changing if they are worn out, but it’s not the standard practice to replace whenever the pads are changed. Have the dealer show you that the rotors are worn out. As for the light bulb quote, it’s probably not too bad given that the dealer is probably charging you $150 per hour. Think yourself lucky that you don’t own a Mercedes-Benz, I’ve heard of quotes of $400-plus to replace a front park light.