The "safest" way for you may just be to download the Cisco customised ISO images, as these contain all the required drivers out of the box. Cisco are a bit tardy at releasing their ESXi images, but they will provide you with a totally functional ESXi installation without having to update anything else afterwards.
There isn't much in so far as drivers that you need to worry about, the VIC cards are the main ones as they are Cisco specific. Most of the other components of UCS are generic components, ie LSI Megaraid Cards, Intel x520, Intel i350 all of which have good Inbox (built in) ESXi drivers.
I've just updated my C220M3 UCS server with the vanilla 6.0 GA ISO images and the only thing I have had to add is the LSI Megaraid CIM driver, to give better visibility of the health RAID card. But again, that's not Cisco specific...