My NY non resident income is less than $7,000. Do I need to file a tax return with NY State?

It depends what your total income is (NY source plus any non-NY source). If your AGI is below the standard NY State personal deduction amount you don't have to file with NY. That amount is $7500 for singles or married filing separately and $15000 for married filing jointly. However even if you are not required to file you may want to in order to either claim a refund from NY State or to claim a credit for taxes paid to other juruisdictions on your resident state tax return.

Check the "Who Must File" section on page 5 of the instructions for NY form IT-203: http://www.tax.ny.gov/pdf/current_forms/it/it203i.pdf