There was a change in 3.3 in the error message for required arguments, and subcommands got lost in the dust.
http://bugs.python.org/issue9253#msg186387
There I suggest this work around, setting the required attribute after the subparsers is defined.
parser = ArgumentParser(prog='test')
subparsers = parser.add_subparsers()
subparsers.required = True
subparsers.dest="command"
subparser = subparsers.add_parser("foo", help="run foo")
parser.parse_args()
update
A related pull-request: https://github.com/python/cpython/pull/3027