I just did the rear brake pads and rotors on a 2010 TSX. I cleaned the right rear caliper with PB Blaster and Chlorinated brake cleaner as it was very dirty.
I did not know these are not recommended for rubber seals. Should I take the caliper back off and re-clean the rubbers seals? If so, what should I use? Thanks

 

Silicone spray and a rag works well to clean the rubber if it needs cleaning. It also conditions rubber.

Don't leave it on the friction surfaces, however.