Until fuel economy became such a big deal in the earlier 1980s, ALL disc brake pads "touched" the brake rotors in operation. This is why, after replacing the brake pads and then reinstalling the caliper, you're supposed to STOMP on the brake pedal to get everything "to spec" again . . . otherwise, that first brake application might not go so well! Just a very mild bit, but still touches the rotors. This was normal. In the '80s, new designs of master cylinders and such got a bit more retractions of the pads for less drag and more mpg. This was a coordinated component situation where both the calipers and mater cylinder would need to be set up for this to happen.
I believe there are residual pressure valves of different calibrations. One for drum brakes and one for disc brakes. They keep the system "charged" past the master cylinder for quicker braking response. This works for the drum brakes as they are adjusted with no lining "touch" of the brake drums.
The question would be just how hot the front brake components are getting? IF they are "dragging", then it's just like driving with one foot lightly on the brake pedal (i.e., partial engagement). Remember that disc brakes dissipate heat better than drum brakes, so any possible heat buildup is quickly dissipated.
The OTHER consideration is the front wheel bearing adjustment. It could be "too tight", which could cause additional drag on the wheel. OR it might need some new grease in them.
I would say that if you can still turn the wheel reasonably easy, then all is fine. DO check that front wheel bearing adjustment, though, even getting them repacked, for good measure. The front wheels should spin a bit, just not as easily as would be the case with drum brakes properly adjusted.
CBODY67