My mouth sometimes stings when I drink water; I'm wondering if I need to go to the dentist.

My molars sometimes ache when I drink cold water.
It isn't always like that, only intermittently.
I don't usually have any major pains, though.
I'm not sure if this is an early-stage cavity or if I'm just sensitive.
I'm wondering if it might get better over time.
I'm confused whether it's at a level where I can just monitor it without necessarily going to the dentist.
I would appreciate it if those who have had similar experiences could share their thoughts.