it could just be the disks and the pad material. I had (have) some Cyclpro - Chrysler pads that didn't have a lot grab or pedal feel - especially with a disk that's worn smooth. Or the calipers aren't working. If it feels like the front, I'd focus on the front.
Rear brakes help the most on the initial and light braking inputs. While under hard braking weight shifts forward reducing the traction of the rears. That's when the proportioning valve is needed.
As far as heat goes, with street use, you will have to try really hard to heat the linings to a temperature where the friction declines. A really long steep downhill in the mountains might get there if riding the brakes. That's true both for the fronts and the rears. In fact their performance may increase slightly after a couple applications in a row.