Yes, you should change it. Timing belts deteriorate with age as well as use. Normal Honda replacement cycle is 7 years. You can buy a kit consisting of belt, water pump and tensioner from Gates. Budget $750 or so for the complete job. Use a qualified mechanic; not Walmart or a tire store.
Not changing it can lead to extemely expensive repairs, should the belt break or the tensioner seize up.
Congradulations for reading your owner’s manual!