Only you can make the decision to update - after research to see what changes (and problems) are present with the new iOS version.
However, I always recommend upgrading to the most current iOS version you can. It helps you to keep up-to-date with app developers and their changes (many apps now only work on iOS 6).
Again, it's solely up to you. And, to be on-topic: This thread exists to help you jail break once (if?) you do decide to upgrade to iOS 6.