Is it really okay to only dance around? should I be doing a more structured work out routine than simply dancing around to get my heart pumping faster?

In my opinion, i think it's fine. Well as long as you do a lot of strong movement and stress your body you should be good to go. Think of it more like exercise with music i guess.

I think it’s important to move your body in whatever way feels right. Sometimes a structured workout feels like a chore to me but i can easily turn on my music and start dancing. As long as you’re moving and getting your heart pumping, you’ve made progress.