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No, it's not a noob question. It's about electronics and it's easily confusing.
Increasing the voltage is the easiest upgrade because the PCB doesn't regulate the voltage from the Battery to the Motor/Steering...therefore yes, voltage directly relates to speed.
Now, torque and current is a different animal. The PCB does regulate this and therefore setting up multiple batteries in parallel won't do much but increase your runtime. If you want to increase torque you've got to adjust how the PCB regulates it, you can do a search on 'mosfet' to learn more about that.
mAH = MilliAmp hours. This is a general capacity rating. Kind of like a regular cars' mileage rating. Like an SUV has like 15 miles per gallon rating. Exactly what the numbers mean is hard to explain, but simply put; the higher the MAh number, the longer it should provide power when properly charged.
mA = MilliAmp. This is the power demand or output of something. If you buy an AC Adapter that is 500mA, that means it will put out a constant rate of 500mA. Or if a Motor is rate for 230mA, that means it demands 230mA to run properly.
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