No, if your ONLY income is the $57,000 from social security, and you are filing as married filing jointly, you would not need to file a return.
Although half of your social security is over the base to make 50% of it taxable, it would still be under your Standard Deduction which is $29,200 for married filing jointly and $32,300 if you are both over 65.
If you fall into the following, 85% of your social security is taxable income
If you fall into the following, 50% of your social security is taxable income
Your combined income is calculated by adding your