The 430ma rating is just when it's starting up; motors draw more current when they're under a load and starting from a standstill -- overcoming the inertia of the weight to get it spinning -- would be a type of load.
Driving the motor at an increasingly higher voltage will make it spin more quickly (be more responsive). You still have to make sure it stays under 130ma continuous; the typical method of doing this would be to use a PWM signal output to the base of the transistor. Lower PWM values result in less current and therefore a slower speed. In that respect you can use any voltage power supply you have available, but still you want something in the < 9V range.
Any inexpensive NPN transistor in a TO220 package should be fine for your requirements. You'll also need four ~220 ohm resistors (between the PWM output of the arduino and the gate of the transistor) and four diodes (any IN400x is fine).
See Transistor Circuits for wiring it up; it also shows the details for selecting a transistor.