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I presume that's motorbikes...
A caliper will never self centre unless all the pistons move equally, which invariably they never do.
TooTallTim-
The brake rotor cleaning is cycles. Motorbike discs are strong enough to not deform.
The self centering is something I have never though of, but makes sense for a cycle with thinner discs.
On cycles I have only had single and double piston calipers. That didn't seem to have that issue, that I noticed.
lynx
When I have cleaned brake rotors on bikes, I have used a brass wire brush on a drill. With the disc on a piece of glass (well a glass chopping board) to keep the disc flat.
This is usually after using brake cleaner in the disc. Also I clean the holes in the disc out with a drill bit. Makes sure I don't create an edge on the hole.
As for dot contamination I just use hot water and car shampoo as it doesn't contain salt.
As for centering, I thought calipers self centered.