Silverado brakes

I own an 03 Silverado that I bought new. It has 62,000 miles on it. From day one the brake pedal feels like mush. In a panic stop, it goes to the floor but the truck does stop. I have been told that it is because this truck has 4 wheel disk brakes and I should learn to live with it. Anyone else have this problem and what is the fix?
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