What I like to know is just if I need some driver for this pins or connect them directly to 8051's ports

I have seen both working. In my opinion, if you connect your uC PCB to the LCD without cable (plug to plug) and your uC is not a speed demon (<12 MHz) you can get by without drivers. However, if I were to use a LCD panel a bit away from my uC PCB, I would employ drivers. Likewise, If I were to use a very fast uC I would separate the LCD signals from the high speed circuitry with some drivers.

Erik