- Install with the Cisco custom .iso.
- Patch with the newer updated .zip from vmware.com.
More details around your questions directly:
Cisco custom image is only required for Installation when VMware drivers are lacking/lagging.
Cisco custom images are typically only created with new UCS versions which require newer drivers.
In other words; not every version/patch/build of ESXi will get a corresponding custom image.
End customers should get used to patching with VMware images outside of Cisco custom images.