I just bought a home, and the sellers clearly never had the air ducts cleaned. This is, unfortunately, typical of their neglect of the home, so I am not surprised. I was cleaning around the wooden floor registers, and I took the registers off. I found nests of some sort...all kinds of really gross stuff!! I am calling now to schedule duct cleaning for my new home. Anyway, it is very easy to check to see if you really need duct cleaning. Remove the floor registers and use a flashlight if necessary to see if there is dust or debris in the ducting. If these look bad, I'd definitely have the system cleaned. I would also do it after a construction project, after installing a new furnace, etc. I have found that once I had my previous system cleaned, it seemed to remain spotless for 3 years. So it seems that if you just change your filters on time (I have an iPhone alert set for every 3 months), the system will stay clean for years. Hope this helps!
You should be aware that although a substance may look like mold, a positive determination of whether it is mold or not can be made only by an expert and may require laboratory analysis for final confirmation. For about $50, some microbiology laboratories can tell you whether a sample sent to them on a clear strip of sticky household tape is mold or simply a substance that resembles it.