What is the essence of Taylor's formula?
Locally approximate any smooth function near a center by a polynomial; higher order is more accurate.
What is the remainder R_n?
The difference between the true value and the Taylor polynomial—the approximation error.
How to choose the center?
Near the point you want to approximate; at x0=a the error is 0.
Relation to Maclaurin?
Maclaurin is Taylor with center a=0.
Is higher order always better?
In theory yes, but numerical error grows at high order; keep it within about 6.