Using starters is so that you can pitch the right AMOUNT of yeast into your brew to stress them the least. It also helps them to get going when pitching into higher gravity worts. Wyeast recommends using a starter in any wort/brew with an OG over 1.060. There are more than a few people on here that make starters for all their brews, even lower OG ones. Just means you don't need to make as large of a starter.
I use starters mostly because I harvest/wash my yeast and I want to be sure that I've got good yeast going into the brew. Even when I'm not reusing yeast, most of the time I'll still make a starter. Most of my brews have an OG either damned close to, or over, 1.060 anyway.
Look at it this way... How would you feel about being taken right out of bed, dropped into a formula 1 race car and told to win a LeMans style race (with winning being the goal)? No practice time, no time to get to know the car, track, etc... Oh, and you're told that if you damage any part of the car, it's coming out of your pocket. Sure, you could get through the race, but you'll get whipped seven ways to Sunday. Now, same scenario, but you've had a year (or more) of training time, you KNOW the car, and you've had plenty of practice time on the track. Same thing for using starters for your yeast... Low OG brews are like driving down the regular roads. High OG brews are the above scenario. Anything between is, well, between the two ends.
IMO, starters are easy to make and are a benefit when used. Just like rehydrating dry yeast is to your advantage. Not everyone does it, and people will claim that they still get solid brews. But, I would wager the yeast will be stressed far less if you rehydrate them instead of pitching in dry...
There are plenty of threads that go over the benefits of both using starters and rehydrating dry yeast before pitching. IME, using a starter seriously reduces lag time for yeast, gives for stronger fermentation, with excellent results. Very much worth the tiny amount of effort you need to make in order to use one.
I'm planning on brewing a blonde ale on Monday, using Wyeast 1332 (first time with that strain)... Chances are, I'll get the yeast before the weekend is out, and make a small starter for it. Since I'm expecting an OG of about 1.060, I won't need to make a large starter, but I'll still make a starter for it.
Use
Mr. Malty to determine if you need to make a starter, and how large you need to make it... If you have any doubts, try brewing a 10 gallon batch (or two 5 gallon batches of the exact same recipe). Ferment 5 gallons without using a starter, and the other 5 gallons with using a starter. Compare them along the way and see what you get. I would go with something that has an OG of over 1.060 for the test.