Absolute most important thing is make sure the motor oil and filter is changed at recommended intervals, and with the correct weight oil. This, more than anything, will ensure the engine lasts forever.
If the check engine light ever comes on, auto parts stores such as AutoZone, etc., will scan the codes for free.
The brake pedal COULD suggest brake pads that are a bit low/worn, or it could just be the nature of the brakes on that car in general. It also couldn't hurt to take a look at the brake fluid level. It could be a little low (which could also suggest that the pads are worn to near the end of their life).
I had one car where it seemed the brakes would catch much earlier than I'd expected along the brake-pedal travel.
What you might do, if you just want to learn more about general maintenance or how to take care of it is to get a repair manual on it. It'll seem intimidating at first, but, even if you don't do more than just look at/inspect things, and never actually repair them, knowing what you're seeing and being able to identify both components, and issues, is satisfying.
As to it feeling fast - some cars feel like they're going faster than they are, some slower. A buddy of mine had a 1978 Lincoln Town Car. A land yacht. He was driving it one night, and I was lying down in the back seat, and asked him why he was only going 25-30 MPH. Turns out he was doing 60, but the car just completely insulated you from it all.
Sportier cars, such as the tC, might feel faster. Smaller, lightweight cars often feel fast because it doesn't take a whole lot of power to make them really move - so the power feels amplified.
I'm given to understand that the tC is a pretty good car overall, though I've never owned one. Scion is a Toyota brand, and Toyotas have a stellar reputation for reliability, although with older cars, it often boils down to how well the previous owner maintained it.
Quick bit of info on the car - yours is a 1st generation:
https://en.wikipedia.org/wiki/Scion_tC