Kyle,
You should upgrade from 8.4.1 to at least 8.4.2 due to a bug in the 8.4.1 causing an unexpected reboot when executing the command "show fulltech".
For the normal upgrade process, on top of the comment WillyHe, you should also keep an eye on the end of sw support time line.
So you should upgrade only if you have a good reason for that.
A good reason being a bug to solve, a new feature needed, a SW becoming out of support.
Regards
Mig