Are non-critical patches needed when installing critical patches?

I'm getting ready to do my first ESXi patch install.  I installed update manager last night and did a scan.  All 3 hosts say they're missing 15 critical patches.  They also say they're missing 20 non-critical patches.  Do I need to do these non-critical patches or should I just stick with what's needed. 

We're basically trying to upgrade from esxi 4.1 update 2 to update 3