No, when there are transitive dependencies which are resolved properly you don't need to specify them explicitly in the pom.xml. Thus your pom is kept small and tidy.
You should use the highest stable version of dependencies in your new projects.
However there are cases when you need a different version (in most cases higher) of a transitive dependency to be used. In that case you specify the transitive dependency with the higher version in a <dependencyManagement>
tag. For example if we have:
<dependencies>
<dependency> <!-- has transitive dependency of com.artifact2 v.1.0 -->
<groupId>com.group1</groupId>
<artifactId>com.artifact1</artifactId>
<version>1.2</version>
</dependency>
</dependencies>
If we want to specify explicitly that we need the new version of com.artifact2
which is 2.0 then we add to the pom these lines:
<dependencyManagement>
<dependencies>
<dependency>
<groupId>com.group1</groupId>
<artifactId>com.artifact2</artifactId>
<version>2.0</version>
</dependency>
</dependencies>
</dependencyManagement>