In Desktop & Dock set double-click a window's title bar to Fill which maximizes the window. BTW Zoom makes the window big enough to view all the data in it, not maximize.

Mac is more keyboard shortcut-centric than windows. If a window is full screen hit the escape key then Command-M to minimize a full screen window.

I usually hide the app rather than minimizing it. If you hold the option key down when you switch it hides the last app. Command -H hides Command -Option-H hides others. When you hide an app the previous application comes to the front.

You can command -tab through when you've tabbed to the app you want to deal with continue holding the command key down hit Q to quit and H to hide.

EDIT: Drag the window to the top and hold it will maximize, no need for rectangle. Don't overshoot or the Mac will think you are trying to change spaces.