What you do as a data processor clearly does not need registering / notifying, but bear in mind sometimes a 'person'who thinks they are simply a processor may in fact be a controller if they are exercising sufficient skill and discretion as to method etc.
For the rest read the detailed regs and decide if you fall entirely within the exemptions - http://www.legislation.gov.uk/uksi/2000/188/schedule/made
On the other hand unless you are tier 2, £35 is not much to pay for the avoidance of any doubt and peace of mind. Also many controllers (wrongly?) require their processors to be registered as part of due diligence / contract requirements.
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