NFPA and UL are not interdependent, so no, technically to meet NFPA 79 requirements, (assuming it is necessary) the components do not need to be UL listed.
However that is a totally separate issue from whether or not the MACHINE must be UL listed. If that is the case, then yes, all components on the machine will need to be either UL listed, or used in a manner UL will approve when the machine is inspected.
If only the control panel must be UL listed and not the entire machine, the components outside of the control panel are not evaluated in the control panel listing, so they would not be an issue. That does not alleviate one from responsible use and installation however.