Are you talking about memory (RAM)? Or storage? They're different things.
Android uses as much memory as it can - unused memory is wasted memory. That has nothing to do with how much you can store on the phone - that's like the hard drive on a computer.
Having an app in memory doesn't use battery. You always have something in memory, even if it's random bytes or all 0s. Only apps that are running use battery. (Apps in storage don't use battery either.)
If you use the Home key when you're finished using an app, that will drain battery, because the app is still running - use the Back key when you finish using an app.