The version PM 6.6 is current. Policy Manager is independent of the version running on your gateways (esrs-clients)

To fix the  I recommend you checkout and implement 2 knowledge base articles :

https://support.emc.com/kb/466182 :  Upgrading the embedded Tomcat 7 service in ESRS Policy Manager 6.6 https://support.emc.com/kb/472244 : Security scan of Policy Manager 6.6 reports the use of low level ciphers and/or SSLv3

ESRS V3 or ESRS VE is the successor of ESRS IP (ESRS V2). New products will not be supported in ESRS IP, so it is recommended to migrate to ESRS VE.

ESRS VE is customer installable, but if you require assistance , I recommend you open a service request.

Good starting point for ESRS VE implementation would be

https://support.emc.com/docu59559_EMC_Secure_Remote_Services_(ESRS)_Release_3.16_Pre-Site_Checklist.docx?language=en_US&language=en_US