Brakes squeak for all sorts of reasons. Could be they're old, could be they're new, could be they got wet, could be they're dry, could be they're run down, could be they got bumped and moved positions a little. Without actually hearing it myself it's hard to know.
Have you noticed a difference in braking power or style? I find that when brakes are really worn out, the car will lower substantially when you apply the brakes, almost like the car is crouching down. But you would probably hear the squeak all the time if that were the case.
If you notice no change in braking power, they're probably just fine and feel like talking to you. But if you truely are worried about it, take it in and have them look. I don't know what the warranty is on your car/brakes, but they could still be covered.
Have you ever had the pads changed since you bought it? Is it high miles? 6 years of hard driving can wear down brakes pretty fast.
But when you notice any sort of change in braking power, take it in. Could be you need brake fluid or a change in pads. Always better to err on the side of caution when dealing with brakes.
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