Well, VSAN requires at least 3 servers, at least 1 SSD and 1 HDD. So, i don't think you can use that with your current setup of 2 hosts.
VMware KB: vSphere 5.5 Virtual SAN requirements
On another note, since you are using local disks, a vmware cluster would not be able to leverage HA/DRS. That being said, using Vcenter with 5.1/5.5 would provide you the ability to at least migrate your guests for maintenance on hosts depending on your licensing level.