I haven't worked on Acuras, but all the European vehicles I've worked often get 30 - 40K miles on the front pads, so this might not be abnormal. What I like to do is get a measurement of the pad material remaining, and when it is at or under 4mm, it is time to replace.
The TL continues to get bigger and heavier, and the pad materials are getting softer to prevent noises so it's not a huge surprise that they only lasted 34,000 miles.
Hopefully someone with more Acura experience will add their comments.