You should speak in 敬語 (敬語= collective term for 謙譲語、尊敬語、丁寧語)
The difference between 尊敬語 and 謙譲語 and 丁寧語 is:
謙譲語(humble speech) is the term used for the words used to humbly refer to your own actions (when speaking with a person higher than you in the hierarchy)
尊敬語 (respectful speech) is the term used for the words used when respectfully referring to others actions (when speaking with a person higher than you in the hierarchy)
丁寧語 is 「ます・です」
They go hand in hand if you know what I mean :)
PS: I think many Japanese are happy even if you only use ます・です Especially since you are a foreigner and because perfect 敬語 is very difficult even for native Japanese speakers.