If you can get the car started with the bad battery then yes you can drive the car when the battery is bad.
But if the battery needs to be constantly charged up or you need jumped to get it started then driving with the bad battery is gonna eventually lead you stranded.
The bad battery can also cause problems with your alternator and charging system as well as put extra strain on your starter.
If your battery is 5 years old or older then you should replace it even if it seems to be still good because the battery will eventually fail to start the car and then you'll be stranded until you can get a jump start or have your vehicle towed.
I replace my vehicles batteries every 5 years regardless if they still work or not because 5 years is about the lifespan of a cars battery.