No, you don't need to change the rotors, unless they are at the minimum thickness. Turning rotors is just a waste of time, energy, and useful rotor material, so the explanation that the old rotors can't be used because they need to be turned is BS.
The last time I had a set of rotors turned was March 2000 - I remember, because I had pads installed before my first ever track event. The 2 cars I had back then I still have 12 years later, and I added the V in late 2007. With all of the track days, brake swaps/upgrades, etc over that time, I can't tell you how many times I've changed out rotors or pads. If I'm changing pads and using the same rotors, I just use a scotchbrite pad on a drill to scuff the surface of the rotors to give the new pads a rough surface to bed into. Works like a charm and takes all of about a minute per rotor.
Finally, some folks will run new pads on a old rotor without turning them. This will work, but braking power is reduced as compared with new pads on smooth rotors.
Poppycock. I mean, that may be true for the first couple/few days, but after that there's no difference. Based on my experience, even with new pads on new rotors, if you look at the wear pattern during the initial driving, there is
not 100% contact - you can see swaths of the rotor that the pad isn't even touching yet. So it's no different than using new pads on old rotors.