The cap is vented so to speak,, There is a rubber bladder that falls as the fluid level drops due to wearing of the brakes. Unless you have a need to get into the reservoir it is not needed to remove the cap. However, sometimes the bladder seals pretty well and it will provide additional force when pushing the pistons back in. So from that perspective it may help to remove the cap.
As far as your rotors go, if there are not DEEP gouges and you have had no to minimal vibration when applying the brakes, chances are you are good to go.
Officially, you should measure them to ensure they are within specs, but general appearance will give the answer just as well.