Is there an efficient way to do things or is it just push through the story and run real fast lol

First char.

Im following a guide so just looking to get to the point where i can effectively use it
Im level 50 need 66.

Don't bother with trash mobs, use a movement skill like whirling blades or leap slam and just do the skillpoint quests.

just kill monsters

you mean shield charge
and cancel the attack animation at the end of shield charge, by simply holding the walk button down

if you are on a zone close a bit lower to your level and you dont have trouble clearing fast, youre doing well i guess