Why do you want to change your lifters? Is there a reason besides the negative posts on the internet of other riders lifter failures?
This is a very small percentage of actual riders and they all have their different circumstances but if your not having any problems then leave them alone.
Personally, I would not touch them unless you have really high mileage on your scoot. If you do decide to change the lifters its time to get a real cam in there and take care of the bearings and lifters at the same time. Save on all that labor and get it done at the same time with peace of mind.
I'd love to know how you know that "this is a very small percentage". Do you have insider information from Harley warranty analysis perhaps? How about inside information from CNA on all the engines they've paid to replace or repair due to lifter roller failures under the ESP? What percentage failure rate do you consider insignificant?
Where there is smoke there is usually fire. Not every 1999-2006 Twin Cam suffered cam chain tensioner failures that trashed the engine, but enough did that many of us chose to do regular inspections and even prophylactic changes to avoid trashing an entire engine. Was that a bad choice on our part? Without a magic looking glass to see into the future, no one really knows. Of course the same can be said for many things in life. We are left with the imperfect option of evaluating the risks as we currently know them, evaluating the cost of various actions including no action, and then deciding to either take preventive measures or just leave it to "fate". It's called being prudent, cautious, whatever. The opposite is often called being clueless or foolish.
Even though the OP didn't tell us what model and year bike he currently has, I think he has a 2009 CVO with a 110 engine. IMHO if he has 20k miles or more it would be wise to at least investigate the idea of replacing the lifters. If he doesn't have a service contract and would be on the hook for the entire repair cost if a lifter totaled the engine, I think $400 to replace the lifters with a high quality alternative would be very cheap insurance versus a $4k and up potential repair cost. And that doesn't factor in any other costs if a failure were to happen out on the road somewhere.
Jerry