Hello:
In order to upgrade you will need to pass through every "minor" release. You could stay in 4.0 until 5.0 is out, but then you decide to upgrade you will have to pass through 4.1, 4.2, 4.3, etc , in order to get to 5.0 (or use a clean install)
If you stay at the 4.0, while 4.1, 4.2 , etc is out, please keep in mind that:
1. You will receive ubuntu bugfixes, as long as ubuntu publishes them on their corresponding repo's
2. You will not get the Zentyal fixes/features present in those "minor" releases.
3. Any bug you report will not be supported, as long, as release policy states:
Zentyal can only maintain one (the latest) Community Edition at a time to keep the development of new features ongoing.