Should they automatically get rotors resurfaced when getting new pads?
The truth is, is that's a "conditional" answer.
I see this more on conveyor brakes ( same basic concept just 10 times the overall mass and size) but a brake rotor is a brake rotor.
Assuming a proper design for the load expected and the mass added for 2-3 standard resurfacing operations ( that's a question in itself)
and
Eliminating all defects caused by corrosion/road salts
The 2 major failure modes imparted into a rotor are
mechanical wear ( from any number of sources such as embedded dirt in the pads, normal wear etc.)
Work hardening ( changes surface hardness) which will create cracking, affect grain structure sub surface, polish the rotor and in some cases deform the metal.
The dimensional one is easy- if its too thin, discard. As long as can be turned evenly it will get another run per design. ( with a shorter life obviously)
The other one is not so easy because the "depth" of the damage must be considered.
Car shop brake lathes are not true lathes and auto mechanics are not true machinists. Even if they were, car shops are not in the metallurgy business and generally don't have the equipment or skills to measure these things. ( cant really hold them accountable for things not routinely trained in the career field)
Even with all that considered, there's the individual vehicle load ( speed and mass to stop in a given distance) combined with the driver foot manipulation. ( 2 variables that most determine brake life and are both almost impossible to measure)
All that to say this.
The "textbook" answer is yes they always should have a fresh proper surface to function properly ( assuming the rotor has the mass/dimension to be resurfaced) but its not always the easiest thing to assure gets done correctly.