Re: server and agents on each machine...
I'm not sure what you are asking here, so if I do not answer your question, please rephrase.
You need an HQ Server to collect information from the agents you have deployed on machines in your environment, and to present you with the UI.
The HQ Agent allows you to collect a larger amount of data about applications, processes, and services running on a machine than you can collect through simple polling mechanisms, making it advantageous to install one if you need a more detailed picture of what is happening. If you do not want to run an agent on every machine in your environment, with at least one agent running in your environment, you can query some services (HTTP, IMAP, SMTP, POP3, DNS, etc.) through remote checks. Hyperic calls these Network Services, and they can be added through the "Tools Menu -> New Platform Service" on a Platform resource page.
There are also some applications that can be monitored remotely through a machine that has an agent installed, but this can create some inventory confusion. These applications would show up as resources of a machine running the agent, not the one running the application.