honda uses regular 10w30 motor oil for their manual transmissions. just like motor oil in a motor, the additives wear out, and the oil can get sheared pretty badly, since it's under a lot of mechanical stress, what with all the gears meshing. yes, I would change the fluid...get a funnel and a tube that fits the end, and you can do it from under (draining) and above (filling) the car without too much trouble.
The drain (uses either a 17mm wrench/socket, or just the squate 3/8" drive wratchet, depending on the year) is on the bottom passenger side of the differential housing on the transmission (the part sticking out towards the rear of the car, with the axles coming out of it), and the fill/check plug is directly above that, up on the passenger out-side of the differential housing (should be a 17mm wrench/socket).