No. If the pads look fine and are adjusted properly, it's not a problem.
Can you see why the pads on the passenger side went bad [as in, why did it fall off]?
2004 GMC Sierra 3500 C&C, added 4WD, 6.0L gas, Extended Cab, SLE, Transgo 4L80e-HD2 kit installed
Whee! Dually Club Member #1109