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Unfortunately, as they do not employ return springs and adjustment hardware like drum brakes, disc brakes will usually have some degree of drag when not engaged. Beyond the extended position of the caliper piston(s), there is nothing to relate the pad distance to the disc, so they always have very minor contact while not in use and applying a product to reduce that drag would essentially also reduce their braking effectiveness and thus safety.
As for the temperature of your front wheels, it is likely a combination of the wheel bearing friction, and hotter air exiting the engine bay passing through the your wheel wells on top of any heat being generated by braking that makes them feel warmer. If your front wheels are out of alignment, that could also contribute to tire temperature, but I wouldn't expect that to be significant at the wheel unless things were really misaligned.
Daox has a good suggestion for checking them in the previous post, I would definitely do that too. You can usually hear/feel them with the car in neutral and all the hardware in place, but not always.
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