What MM is talking about is studying form. It's not entirely necessary to get a good drawing, but it can enhance its appearance to add an extra dimension to it. The best way to study form is to start with basic shapes. The incredibly common sphere you're bound to have seen at least once in your entire life, while usually a pain in the ass to go out of your way to work on, is actually one of the best "first steps". Using the basic shapes you can get a better feel for what more complex shapes would look like, and me personally, I have to imagine the form before I can even start drawing whatever it is I'm going to draw.
Also, with learning form comes the ability to sculpt. The better you understand form, the better you should be able to sculpt, if you're ever interested.
The only way to get better at something is to just keep doing it. If you enjoy drawing, don't ever stop. Draw what you love to draw most, and keep at it. You're already very good. Might I suggest giving your drawings a wider variety of poses? Try drawing something you've already drawn from a different angle. I see nothing wrong with what you've currently got, but it could be better and I know you're capable of making it so.
And, if you ever get the time, draw something lying around nearby. This is something I actually never do because I'm too much of a lazy piece of shit I have to get myself to go to a class or two so I'm essentially forced to sit down and draw from life.
Oh, and a few other things I wish I had figured out earlier:
-Never be afraid to make mistakes (you can always go back and fix it.)
-You can never "overwork" a piece (it's only finished when you say it is.)
-Base first, details later (make sure your drawing has a solid base before working details in it. makes things so much easier, especially in painting.)
TL;DR: ART.
As for the hands and feet, just draw from yourself and other people. When you're casually browsing the internet take a look at your hand as you do so and observe how it works. Observation does wonders for drawing ability.
Also, keep in mind that pretty much every animal with forelimbs have the same general structure. With an arm + hand you can also draw: a wing. a paw. a talon. a fin. The same applies to leg + foot. It all has the same general parts, you just have to move it around a bit.
I look forward to seeing more!
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