Haven't got a copy of the regs to hand to check myself - where is the text you quoted from - is that a guide to the regs, or from the regs itself?
If it's just from a guide, then they may not be strictly accurate. As BAS has said the regs do state that except where stated you don't need to bring circuits up to date, so I suspect you would be in compliance not adding an RCD if the existing circuit didn't have one. Having said that, in a lot of situations (e.g. shaver socket) you're likely to be burying the cable at less than 50mm, so would need to RCD protect it anyway.
Also, I'd generally fit an RCD, as if someone died from a shock, I don't think a judge is going to look too kindly on you trying to use the argument that it was an existing circuit so you didn't need to protect it (even if it is true) - after all, there was obviously a reason for making it a reg, it's not just done to make jobs cost more...