Should I move, and how to move from 3.4.1 to 3.5 version?

Opened my first WordPress blog in September and installed the WordPress 3.4.1 version, and created a child theme starting from the default Twenty-eleven, making the typical changes in the layout, texts, some modifications to .php files, all properly saved (hope) under the child theme directory.

Then, should I move to WordPress 3.5, and if yes, which is the best procedure to handle this upgrade in the less painful way, apart from starting with a backup? Should I wait for a major release, let’s say WordPress 3.7, or every time a new version is released, is it better to upgrade?

Any clarifications on this are much appreciated, thanks!
Miguel.