Your buddy's right that maintenance is important, but whether it really *has* to be yearly depends a bit on your situation. With an oil heating system from 2008 that's still running, I'd say: at minimum every two years is the absolute bare minimum, but yearly is better. The reason isn't just safety (soot buildup, burner wear), but also consumption - a poorly maintained system burns through way more oil, and you'll notice that pretty quickly on your bills.
A practical tip that a lot of people forget: check the inspection sticker from your last service (if you've got one) or call the heating installer who put it in or serviced it last. They can tell you straight up how long ago that was and whether your system is even still worth anything. Some old oil heaters eventually just aren't economical to repair anymore, and then maintenance doesn't make sense either. With a 2008 system, that could definitely be relevant.
If you don't know when the last service was, I'd get one done now and then do it yearly after that. It doesn't cost a fortune and saves you a fair bit of money over the year in the end.