I have red bumps on my torso and some on my back. These bumps vary in size and are not itchy. The bumps don't bother me, should I see a doctor?

A choice of outlook. Generally, anything bothering you and unable to solve alone, albeit cosmetic, confidence, image, mood etc... you're not really being the best you that you can be. By all means see your doctor as part of seeking a solution and healthy skin. This may be acne, dry skin, atopic dermatitis, eczema and others. But if the one concern is could this be serious? A doctor visit is not needed at this time.
Maybe. If the rash worries you then an exam is needed. You can also submit photos through a virtual consult on HealthTap Prime.