Your roof has apparently taken damage, as you have documented.
Should you choose to not proceed with an insurance claim with this particular incident, and you have indeed taken damage, keep in mind that the next incident that damages your roof might cause issues with a future claim, should it necessitate an immediate repair.
What I mean is that if the damage from a future incident is in itself minor, but enough to tip it over the edge to require you to replace it, the insurance company might claim that since the damage caused in the last incident was only minor the roof shouldn't be covered by them - that the fault was a previous issue or a pre-existing fault.
I don't know if I'm explaining it well. What I'm trying to say is that not checking with a roofing professional and the insurance company to gauge whether it needs repairs now, might give the insurance agency a loophole to not process a future unrelated claim.