DOT 3 is good old brake fluid, DOT 4 is better, but both work, and is becoming more common just because its a "better" fluid in terms of its boiling point.
If you can get DOT 4 for the same price, use it, it has a higher boiling point and mixes just fine with DOT 3. If you're cheap, buy DOT 3, since obviously its been working just fine.
To switch to silicone DOT 5, is stupid, and difficult. It'll cause a host of problems because its incompatible and is largely restricted to some really specific high performance applications.
DOT 5.1 on the other hand, is just "better" fluid but the same as DOT 3 or 4, so again, DOT 5.1? You can mix with DOT 3 (or replace DOT 3 with it) but, unless you're racing and need it, its just added cost.
As for the power steering? Just use the latest Mercon. If its rated for Mercon, any newer Mercon fluid should work fine. [censored] any regular "Mercon/Dexron" or multi-vehicle ATF fluid should be more then enough for the power steering.
Most power steering systems don't flinch anyhow running regular GM/Ford ATF. I wouldn't use type F.