If you have a subrepo, a working directory must include some version of that subrepo. That version may be a fixed older revision if specified, or the tip if not.
You cannot update your repo without getting the subrepos; if you had a complete working dir without them, you shouldn't be using subrepos - use truly external repos instead.
If your subrepos are pegged against a certain remote version, then updates after the first will not trigger a subrepo update - they're already up-to-date. But for the initial creation of the working directory, you will have to do a remote pull.
You can trick Mercurial by munging the hgsubstate
file. But really, your model and the conceptual model differ, so you're probably not a good match for subrepos if this is a concern.
edit: If you find yourself cloning and then updating to the tip many times, try using local branches or mq
instead. That way you only have to do the initial clone once.