You will have to doublecheck cause I do not know your engine/transmission details, but
Here:
http://bkhondaparts.com/billkay/jsp/...itch=&hidIrno=
14 53534-SR3-A52 DUST SEAL, TIE ROD
( No Color ) 1 1993 CIVIC 18.21
15 53534-SR3-N52 DUST SEAL, TIE ROD
( No Color ) 1 1993 CIVIC 12.92
And yes you need to change these asap. The crap that gets on the rod will drag back into the seal on the power steering rack and make the seals there leak. Then you will be unhappy.
Use a caliper to measure how much thread is showing past the lock nut on each tie rod end before you take it apart. Put it back this way for your drive to the alignment shop.