Can I upgrade to the later version from https://archive.torproject.org/tor-package-archive/? Can i just untar/tar the file? Should I uninstall this version first?

Because I kept getting the the message in the log that says "Please upgrade! This version of Tor (0.2.2.35) is obsolete, according to directory authorities. Recommended versions are: 0.2.2.39, 0.2.3.24-rc, 0.2.3.25, 0.2.4.5-alpha, 0.2.4.6-alpha"