Welcome to Arduino.
Asking which board is best is like asking which car is best – it depends on what you want to do with it. But for general use the Duemilanove is a good choice.
You can control up to 12 servos with the MegaServo library here: http://www.arduino.cc/playground/Code/MegaServo.
Most DC motors need some form of external power control to drive a motor – you can read more about this in the Arduino playground und motor control : Arduino Playground - InterfacingWithHardware
The Arduino programming language is an embedded version of C/C++ with some abstractions to make it easier for non-programmers. Many aspects of a typical C program are hidden under the covers, for example there is a main() function automatically created for the user that contains the two functions you can see: setup() and loop(). It may help to look at the reference (and advanced reference) pages get a feeling for how Arduino exposes the programming language: http://arduino.cc/en/Reference/HomePage. But because the underlying compiler is AVR-GCC you should feel at home once you get oriented.
You can read more about what happens in the underlying build process here: Redirecting
Have fun!