WHMCS plays very loose with their data, so sometimes there is no data when data is expected and required and it results in an error. Check your WHMCS database to make sure all clients/contacts have a client ID. The subsequent errors are likely a result of the first.
If you need help, and are willing to securely share a dump of your WHMCS database, we can attempt the import here and debug any issues and either update the importer to work for you, or send you a fresh Blesta database with your imported data. We delete all data when we are finished.