Is a squeaking noise when you let off the brake pedal in your car a serious problem?

Whenever I let off the brake pedal in my Honda, I hear a squeak noise. Is this something that likely just needs to be lubricated/cleaned on the brake mechanism, or is it signs of a more serious problem? It is not the brake pads; those have been replaced recently. Is this something I need fixed ASAP, (possible brake failure) or is it something that just simple (not serious ) maintenance?

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