Rotors will always be hot especialy when they are new. the brake pads naturally drag lightly on the rotors even when you are not applying the brakes, so there will be friction heat. try jacking the vehicle up so the wheel in question is off the ground, try spinning the wheel by hand, if it moves with a slight drag, this is normal, if it is hard to turn, you may need work on the cylinder, it may not be alllowing the pad to adequately return to it’s proper position.
Get them checked as Overheating will cause them to warp.
The rotors must be below spec, they are designed to absorb heat but thats if they can absorb it. New pads on thin rotors is a bad combinations. Have the rotors measured for their thickness and if they are below spec, change them both.
Thanks for the advise. The back brakes are not heating to the same extent as the front. I suspect the quality of the rotor is a problem. Noticed a significant drop in gas mileage when you brakes were installed as well.