The radiators heat fine - that's already half the battle, but there are nuances worth considering. Cast iron really is durable, but modern radiators have better heat output, especially if you've got pressure or temperature issues with your heating fluid. Bimetallic and aluminum radiators heat up and cool down faster, so the system responds more quickly to fluctuations. Plus cast iron needs very careful handling during repairs - it cracks easily, while new radiators are more robust in that respect.
As for maintenance and costs: cast iron radiators need regular painting, they rust from the inside, silt and deposits build up in them. If your system is old, that's definitely relevant. Modern radiators don't need painting, don't corrode, and are easier to clean. But the cost of replacement - that's real money, plus labor. It makes sense to replace them if you're planning to do a renovation anyway or if you've got cold rooms in your apartment. If your place heats fine and the radiators don't leak, you can squeeze out a few more years - cast iron can last for decades.