If the fluid in the master cyl. is black/dark/dirty, flush out the system with a few cans (or one big can, but pour it into a little can to fill the master cyl to make it easier) of fresh brake fluid, bleeding until new, clear fluid comes out all 4 corners.
The front calipers have slide pins that should be greased every so often with synthetic brake caliper grease, the slide pins let them center up around the brake disc.
If you feel like it, rebuilt front calipers for these are extremely inexpensive (I paid $13 ea/ at Napa, which was less than a rebuild kit), so you can throw on new calipers before bleeding rather than waste a lot of time troubleshooting if you think the calipers have anything to do with it.
You should also check the brake lines and hoses, too. The stock rubber hoses can get cracks and bubbles, and if it's really bad, they will develop a bubble that gets rather large when the pedal is pressed, making the pedal pressure go towards expanding the bubble and not squeezing the brakes.