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Make sure you put all your engines far enough down so that at full speed they don't leave the water. You can do steering any number of ways, the expected way is usually to put a paddle on the back with a steering hinge-- however, I prefer to use the 1 PC motor on the front facing sideways. It's faster and lets you turn at a standstill.
Bear in mind that boats are affected by their fluid dynamics. You can effectively build an aquatic submarine plane with motors for propulsion, and similar logic would apply. Parts like fins will resist motion and help stabilize, and a pointed bow and keel will cut through water a bit more efficiently.
Make sure your center of thrust is level with center of mass or slightly below it (being too far below will make your nose lift out of the water or even backflip you, being above it will push your nose into the water, slowing you down or making you sink in the worst case).
Don't be afraid to add some weight blocks to fine tune your balance. You'll want a little weight for stability anyway, especially if you're dealing with wind & waves.
That should cover the basics to build something workable.
For steering you can just put your engines on either side of the ship and use OR gates to trigger one side to go backward and the other forward when you press A & D.
You'll still want some kind of underwater tailfin or paddle/rudder for directional stability though.