Yes you can upgrade only server to mr4
there are two ways of doing that
1)If you have a diffrent group for servers you can just assign a package on them and they will upgrade.
Even though you are using mr3 you will see 11.0.4000.xx package listed in Admin-Install packages as it gets downloaded by liveupdate.
2)You can export an MR4 package and deploy it on the servers.
Coming to the second question : If everything is workin fine on Mr3 then why upgrade?
One answer read the Release notes and look at the number of bugs that have been fixed since then.
Still if you feel that MR3 is working great for you ...its your call.
Release notes for Symantec Endpoint Protection 11.0.x and Symantec Network Access Control 11.0.x
http://service1.symantec.com/SUPPORT/ent-security.nsf/docid/2007121216360648