You can easily check whether they are loaded:
Code:
$ dmesg | grep -i vboxguest
[ 37.724102] vboxguest: major 0, IRQ 20, I/O port d040, MMIO at 00000000f0400000 (size 0x400000)
[ 37.757528] vboxguest: Successfully loaded version 3.2.12 (interface 0x00010004)
I'm actually running 10.04 in VBox 3.2.12 on CentOS 5, so I cannot really reproduce your setup, but the symptoms just seemed to indicate that the GuestAdditions did not install properly.
Amother indication of GuestAdditions being there is the MI-icon (mouse integration).
Sorry I cannot be more specific.
EDIT: I just noticed VBox is at version 4.0.2 r69518. You may want to upgrade.
EDIT2: If you upgrade, you'll need to upgrade the VirtualBox Extension Pack as well, AND download GuestAdditions 4.0.3 ("updated version of 4.0.2"), as 4.0.2 has issues.
Come to think of it: the server edition will not have/need X. The command window is text, not graphics. So the resizing options may not apply unless you actually start X, as the window size will depend on the font size. I'm not that familiar with Ubuntu, as I use RHEL and CentOS, sometimes Fedora.
Not sure if Ubuntu supports resolution specifications on the kernel options in grub, like "VGA=775", but that might affect your window size as a different (smaller) font will be chosen.