If a client refuses to pay freelance contract invoices, is small claims court the best course of action?

After a year, I am still waiting on payment from a client for just shy of $5,500 in invoices. I worked with a small company in SC for over 5 years on a freelance basis (without a written contract). Originally, I had to come into the company's office and work on the premise and then I moved and continued working freelance remotely with the company. When I ended offering freelance work in 2015, the owner of the company paid only some of the due invoices and has yet to pay the remaining ~$5,500. Is filing a small claims suit in NY for $5K and forgoing the extra $500 and the claim fees the best course of action?