In your machine under warranty : Yes /No  My personal perception about BIOS updates are do on need basis.  Unless it includes a fix or feature which I need, I don't do it.   Please make a note that unlike any other update, BIOS updates can brick the Motherboard, though the chances are very rare, but it can. So do it if you are facing an issue and BIOS updates are must for you 
I was wondering if I should update my BIOS since it said Importance:Urgent, any advice on what i should do when  I update my system BIOS?
Regarding Dell Inspiron BIOS update (3493/3593/3793/5493/5593 and Vostro 
3491/3591 System BIOS update)