Glen,
B & C are servos. You would normally replace on with an ESC. The diagram shows a mechanical speed controller which would be attached to one of the servos. These are quite hard to find now. The other servo is connected to a rudder - which you dont have :)
The connectors at D are to connect a battery charger for charging the battery.
To reproduce the current setup in your boat you would need two ESCs, one for each motor, and a mixer to mix the rudder signals and throttle signals so you can steer. I'll try to sketch the arrangement and send you a personal message.
Regards,
Barrie