No, they do not need to be replaced right away. They will not get better and will get worse but it will be a little at a time, typically. The seals can be replaced with the heads still on the engine but for valve guides and seals I recommend the heads come off and go to the machine shop or get a pair of reman heads and bolt them on. Either job is tedious enough that you need a good mechanical background or a friend that is trained. Personally, I would never do just the seals unless you are selling the vehicle.