I had an endoscopy 2 years ago. On nexium (esomeprazole). Should I get a new endoscopy to see if there is any change?

Depends. It depends on what was found. Call your gastroenterologist to review your chart and make a determination on when you should have a follow-up endoscopy.
No. It is not recommended to have upper endoscopy just to "look and see", especially if you had one 2 years ago. If you are having symptoms then discuss the matter with your gastroenterologist. If you have barrett's esophagus then there are guidelines regarding the timing of surveillance. Again something your gastroenterologist can help you with.