Use SSL when you are collecting sensitive information from your users, which (IMO) includes contact details. Personally I try and avoid submitting personal details about myself over an unencrypted channel.
In the end it's a judgement call. However, if you're collecting addresses, phone numbers, bank details, or anything that can be physically traced back to the user I'd recommend using SSL.
Obviously this only applies if your transport method is insecure (which the Internet, by definition, is). If you're running your website over an already-secure channel (like an internal network, where you trust your users, then there's not much point).
However, if you do decide to use SSL, make sure you get a valid, signed certificate! SSL without a signed certificate is kind of pointless, since it means your end users cannot trust the authenticity of the certificate. This unfortunately costs money, which is why many small websites don't bother.
SSL is all about trust - the certificates are signed by a "trusted" authority, so users can be sure that they are dealing with the proper certificate holders (as opposed to someone performing a man-in-the-middle attack). Obviously this trust is not ultimate - but it's an added step to providing a safe data channel for user information.