It sounds like the fluid hasn't been flushed in a while. You should drain the reservoir using a turkey baster or some other suction device, and then fill it with new fluid.
I use a pump, there are no 'helpers' around.
If no pump, then the procedure is just slightly different.
Open a caliper bleeder valve on one of the rear wheels and attach a clear 1/4inch tubing that will go to a clear bottle or catch can. Have helper push down slowly on the brake pedal while you watch the fluid. After the brake pedal comes back to the top, replenish the reservior with new fluid. Repeat until the fluid is clear. Move to the other brake and repeat the process.
You will need about a pint to do both rear brake lines.
When done, pump the brakes a few times, reinspect the fluid level. Then drive the car, braking hard a few times. Inspect the rotors and see if the rust is gone on both.
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