Should I replace my car battery?

I have a 2012 Honda Civic. I bought it used in June with close to 50 thousand miles. I don't drive it much (as its my second car and my old Volvo SUV uses a lot of gas but I still need the space) but I've only put on 2 thousand miles. It came with a lot of original parts and I've already replaced the tires, and brakes. I notice the headlights seem to dim and flicker often. Isn't that a sign of dying battery? Other than that the car always starts but I don't want it to die out in a sketchy part of town for example.

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