The sound that the pedal makes doesn't mean that your clutch is worn or needs to be replaced.
A good way to check is to park the car and put your e-brake up. Rev to a few thousand RPM's and sorta dump the clutch. If you feel the car jerk, then that means that the clutch is ok, and that it is grabbing. If it burns, then it may need to be replaced.
Also, while shifting at high RPM's, when your clutch engages, look to see if your RPM's drop, stay the same, or rise too fast.
If they drop, then your clutch is slow to engage, and it may be very worn. If your RPM's seem to catch, or stay the same, then you should be fine. If your RPM go sky high at any point, without your car accelerating much, then that means that your clutch is so worn that it can't grip under certain applications.
The stock clutch is usually good for around 75k miles.