My handbrake on I realised that it was already halfway on

While I was out driving I started to smell a burning smell. I pulled over to investigate this smell and then as I went to put my handbrake on I realised that it was already halfway on and there had been a warning light on for about 1/2 to 1 miles (but as I was new to driving this car I hadn't realised what it was). As I got out to check the car it was obvious where the strong smell was coming from - the wheels (mainly the rears). The rear tyres were quite hot and when I first got out I could see a little smoke coming out of the right rear tyre/hub. I let the car cool down for 5-10 mins and most of the smell subsided but the right rear still had the most (although greatly subsided) burning smell coming out of it. Also there was some clicking (1 click every 20 seconds say) around the right/centre rear while the car was stationary. After I set off again I tested the brakes and the handbrake (on a hill) and everything was fine. After about another 5-10 mins of driving I arrived home without any problems. After leaving the car to stand for around 30 mins I checked the car again and found just a faint smell of burning on the right rear but this time no clicking. The brake discs on the rear tyres had a rusty colour on the outside and inside edge and this seemed slightly worse on the right rear compared to the left rear, whereas the front discs had no colour on either edge. On the 1/2 - 1 mile stretch of road that I travelled with the handbrake halfway on I reached speeds of up to 40 mph. Do you think that this is a case of overheated or glazed brakes or worse and do you think that I should get this checked out? Also this was a UK Ford Focus estate car.

Thanks for any replies in advance,

Ben