That goes may be for the complete E&M theory, which is relatively advanced in math.
But you can still create the set-up that you want (and I think it is in fact a good idea) for Electrostatics [note that the test charge can move] (and similarly for magnetostatics), by going back to the basics, that is the notion of charge, Coulomb's force law etc., and with the use of simple mechanics ideas and some calculus you can derive most equations (besides the definitions of course). For example from Coulomb's law you first find E = F/q , then through the work of the force you get the potential energy and the electric potential etc.
But we have already discussed these basic issues and you seem to be familiar with them. Thus you won't have a problem creating the appropriate set-up for every situation and derive the equations that you want. But keep in mind what the definitions are, in each case, in that process. (For example ΔU = -W is by definition, as already said earlier, while the formula for electric potential (V [or Φ]) of one charge (Q) field: V(r) = K•(Q/r) , is a result (following by the also definition of potential V = U/q and the calculation of mechanical work [and thus of potential energy] for Coulomb's force ... [q is the test charge]).)
So there are many things you can do.
For the complete E&M theory and connection to special relativity, don't worry about it now. In any case, you have to go through the usual presented method first. For example (later) you will learn Maxwell's equations as generalizations of the E&M laws and you will pretty much have to accept and remember them before you even have to worry about the connection to sp. relativity and ways to formally derive them. Historically they also came about first, before and independent of the STR.