To avoid losing data you would have to come up with a data integrity validation strategy prior to upgrade and post upgrade even if is minor upgrade.
From experience= i migrated postgreSQL 9.6.6 to 9.6.9 (minor upgrade). Small validation and the downtime was 12 minutes due to manual snapshot and automatic pre-upgrade and post-upgrade performed by AWS RDS. In general terms it was good and everything was smooth.
Recommendation= test. Do dry-runs many. and pay attention to the DB load plus the DB extensions.
https://docs.aws.amazon.com/AmazonRDS/latest/UserGuide/USER_UpgradeDBInstance.PostgreSQL.html
Check AWS official Doc. AWS RDS Upgrades
Please Let us know after 4 years what you decided and how did it go?