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The likely causes are probably one of 2 things. Number one: Your brake pedal has somehow loosened and needs to be repaired/tightened. More likely, number 2: You need new brake pads/shoes. The first option is potentially expensive, in the area of about 200 dollars and probably not doable to do yourself. The 2nd option is cheaper, about 20 dollars per pad/shoe and if you can get your car on a lift, or 4 ton support ramps (Also cheap, about 50 bucks) you can change the brakes yourself. You can likely get both options done for about the same price by a professional.
It sounds like there is a problem with the current calipers, it would be cheaper to try replacing the current ones with a new one NOT FROM HONDA. buy an aftermarket caliper and try that. Dealerships will try to screw you over and take money from you when its not necessary.