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Brakes are designed to be pushed back in position after braking through rubbing (against the disk or in the drum.
So it's somehow normal that it rubs a little.
Some cars fare better in this department than others.
Fellow ecomodders incorporate a spring from a bicycle brake to help pushing it back without the rubbing.
It does depend on your brake setup though.
You have probably rear drums.
The least good practice is to dismantle the caliper, clean it up (no reason to open the brake circuit) and make sure the caliper slides easily (assuming it is a single piston setup as is often the case, it has a sliding counterpart)
For drums it's a little trickier.
They do get clogged up so can be cleaned but they also usually have a freeplay suppression setup that does the exact opposite of what you do want (as a non braking ecomodder enthusiast) and I wouldn't tell you they're easy to remove ...
Thing you can do also is clean up the side of the disks with a file because they usually rust where a step is formed from the braking.
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