iPhone 5s w/iOS 7.1 not syncing with computer iCal (OS Snowlep)

Is it because I have an old operating system? It says on my iPhone and in iTunes that my phone will be syncing iCal through the cloud... I want it to just update it when it syncs with my computer. Currently it's not syncing any of the events from my computer. Is there a way to turn on iCloud w/my iCal on this old OS??

Thanks so much for your help.