Constant doesn't seem normal and probably worth getting it checked out. If you have techstream (high recommended and relatively cheap to get), check to see if you have any codes in the ABS/Traction Control module.
The brake booster is right at the drivers side, top and back of the engine bay, mounted on the firewall. You'll see the brake fluid reservoir. Take off the engine covers and take a listen. Is it making the noise with the ignition on, but engine off? I recall mine is pretty silent.
The brake feel on the 200-series is indeed different from most cars. It has longer travel before engagement and needs relatively more travel to modulate. Rather than the feel of modulating with just pressure in most modern cars. There's lots of threads on this. My opinion is that it is purposely tuned this way to help modulation off-road where things can be very bumpy, and could assist the driver in not braking traction over lose surfaces. Don't mistake that for weak brakes as it's strong when deliberately braking. Just different, and with some seat time, you won't give it a second thought. I noticed it too when I first got the car, especially as I switch between as sports car and this regularly.