Alright a couple of things are happening with this now.

First of all, when I press on the brakes (and only when I press on the brakes) I hear a noise coming from the back end of the car, I believe it is a grinding sound, maybe. I can be more specific if needed.

The 2nd thing, is when I am going 30+ mph and I press on the brake, the pedal vibrates. Like its going up and down repeatedly. I can still stop but the pedal continues to move until I slow down enough.

Any thoughts? Thanks.

 

Deltree,

From what you describe in your post, it sounds as though the grinding sound could be indicative of your brake shoes becoming glazed over. Try removing the shoes from your rear brakes and sanding them down a bit with 80 grit sandpaper.

Additionally, rust could be building up on the surface of the drums and the noise can be attributed to the sound of the shoes grinding the rust off.

Finally, inspect the brake shoe springs (ref #10,12 below) to ensure that there is proper tension on these components:



*diagram courtesy of hondapartsnow.com; all rights reserved

 

The pedal modulation is probably warped front rotors. Unlikely your rear brakes would cause that issue.
As said above, the rear pads could be glazed over or more likely the pads are worn down and need replaced. May need to replace the drum too if it is scored beyond repair.