You really aren't going to "upgrade" to higher quality brake rotors, unless you spring for some carbon fiber ones, but those are pretty much for performance and race cars. For average every day use, you can buy the cheaper rotors and have no worries about them. They will last for as long as you need them.
As for your question, considering the cost of new rotors versus the price of getting rotors machined, it makes sense to buy the new rotors. In most cases, the new rotors will only cost you a few dollars more. It makes sense economically if you consider your time spent getting the old rotors to the a shop to get them turned, then waiting on the job to be done or expense of driving a car home, then having to come back and get them. By purchasing the new rotors, you do it all on your time. Many still choose to get the old ones resurfaced and this is not a bad option as long as the old rotors are thick enough to be within manufacturer specification. Along with what I said, though, I almost always replace the rotors at the same time as the pads to alleviate any bad situations which may arise and to save myself some time in the process.
If you do purchase new rotors, ensure you use some brake cleaner and clean off the surface areas of its protective coating. If you don't, your new brake pads will get gummed up with the stuff and not work very well.
Whether you purchase new or resurface your old rotors, ensure you bed the new brakes properly. This was covered extensively in covered by Centric Parts here.