Soft pedal is caused by air in the system. Bleed the brakes starting at RR, then LR, RF, and ending at LF.
brek pads
if brake pedal is soft , either there is air in the system ,a brake fluid leak, or brake linings and pads are worn allowing the pedal to travel to far if there is a fluid leak, this can usually be found by getting under vehicle and looking at inside of wheels for brake fluid
Air in the system. Bleed the brake system.
It probably means that you need to visit a mechanic. Soft brake pedal feel can mean that air has gotten into the fluid lines. There could be other issues like worn-out pads or rotors.
Brake pedal will be soft if the front pads are seized in the slides..and/or your rear brakes are dirty and out of adjustment. Pull up the park brake slowly and count the clicks it goes up More than 5 clicks...needs rear brake adjustment
Your brake pedal feels soft, one reason for this could be
Your brake pedal feels soft, one reason for this could be
Wornb brake pads. You are hearing the warning device that is telling you to replace the pads.
New pads will have to be burnished to fit the irregularities of the rotor - driving approx. 200 miles should "break pads in" and pedal should improve.
You need to bleed the brakes. Loosen the bleeder valve on one of the calipers and have someone press and hold the brake pedal. Tighten the valve and release the brake pedal. (If you let off of the pedal with the valve loose, air will be drawn into the system and make the problem worse.)
air in the hydraulic brake system
You need to inspect the brake pads/shoes and have the brake system bled. The soft pedal is air in the brake system. The fact that you are hearing air makes me suspect you may have a defective brake booster. Have the power brake booster vacuum diaphragm inspected.