Unmanned Vehicles can benefit from contextual information to improve their operation and security. In fact, a node in any network might assume different levels of criticality depending on several factors, such as their inner components' states, data relevance, provided services, and contextual information. Being aware of a criticality level for an individual node helps determining more consistent approaches to communication and security/safety implementations. In this paper, the integration of security contextual information in a UV communication architecture is demonstrated, in order to increase its safety, overall security and survivability.