This is a quite broad and subjective question . The key question to ask is what value would an ESB provide that your applications cannot deliver. The answer depends on your use case and you existing technology eco system . For example if you use legacy technologies that doesn't provide web-services ground up, then having an ESB infrastructure will help you quickly "web service enable " .
You might also want to use ESBs to act as a proxy that apply the ACL rules or encryption or security controls . Certain ESB ( Appliances ) provide FIPS-140-2 controls , intrusion detection etc that you may on may not need .
ESB does provide significant governance and operational/ monitoring capabilities out of the box , especially if you are using the web service (SOAP/WS-* ) services .
Scale and Latency is not a function of ESB itself but , it depends on what product and how it is implemented . You could implement a highly available and scalable web service endpoint without an ESB . However there are certain appliances ( Data power , Intel ESG etc ) that provide significant hardware acceleration to certain process ( e.g. XML/XLST etc )
Another aspect of using ESB is to understand who your consumers /providers are . Are you looking at dealing with different protocols with different consumers /providers . Are you required support multiple payload types ( XML , JSON ) . I would also says that its not necessarily to have an ESB to meet these requirements but it might make it little it easier for you to have the business app do only implementation of the service and ESB offer various end points depending on the needs of the consumer .
Most importantly SOA is an Architecture pattern not a single product. There is nothing that says "SOA" means ESB , you could very well design a spring integration or Apache Camel based application that is service oriented , scalable and flexible
So that's some of the advantages of using ESB and here's some links as to why you shouldn't use one
Since you getting started on Services , another aspect you might want to make it Restful Vs SOAP based services . There's lot of content on the net , following are some links to get you started .
Hope that helps.
http://www.ibm.com/developerworks/webservices/library/ws-restful/
http://martinfowler.com/articles/richardsonMaturityModel.html