In many cases an occasional call to GetComponent is fine, but you want to avoid calling it in loops or every update (e.g., actions that can be called every frame).
In Unity 5, Playmaker actions that used to use those properties now use caching to avoid calling GetComponent too often. For example, if you look at Add Force, it derives from ComponentAction which implements the basic caching of components.
If you want you can also derive actions from ComponentAction to take advantage of caching...