True title

How would one get the MCO or true title back from the State for a car? And what does the cloud over the lien of property such as a car in a ucc financing statement actually mean(in layman's terms)? What If  the police impound my car even after being told this car is in my trust and on public record? Sorry if my questions are broad I just don't know other ways of expressing my thoughts on these subjects as it is a very broad realm I have been exposed to.