Unless you are willing to add 2 subwoofers and a digital 2 way crossover your friend is absolutely correct. The thump is actually not in the very low bass.
Will you be missing anything important without subwoofers? If you like to listen at louder volumes and want the effect of feeling like you are at a live event then yes. If you listen at lower levels and do not care about the comparison to live concerts then no. At louder levels using subwoofers with a two way crossover removes the very low bass and very long excursions from the main speakers lowering distortion and increasing headroom by as much as 10 dB (twice as loud).
Historically, classical lovers hated subwoofers and rockers loved them with jazz in between.