Yes, to find the matrix representing a linear transformation from one vector space to another, apply the linear transformation to each basis vector in some ordered basis, then write the result as a linear combination of basis vectors in the other space. That will give a column of the matrix representation. As for "why we need different forms", linear transformations apply to vectors while matrices apply to arrays of numbers. You need to connect one with the other and bases allow you to do that.
For example, suppose our linear transformation maps (x, y), in R^2 to (x- y, x+ y, y) in R^3. The "usual basis" for R^2 is {u1, u2}= {(1, 0), (0, 1)} and the "usual basis" for R^3 is {v1, v2, v3}= {(1, 0, 0), (0, 1, 0), (0, 0, 1)}. Apply the linear transformation to u1= (1, 0) gives (1- 0, 1+ 0, 0)= (1, 0, 0)= 1(1, 0, 0)+ 0(0, 1, 0)+ 0(0, 0, 1)= 1v_1+ 1v_2+ 0v3 so the first column of the matrix is \begin{bmatrix}1 \\ 0 \\ 0 \end{bmatrix}. Applying it to u2= (0, 1) gives (0- 1, 0+ 1, 1)= (-1, 1, 1)= -1(1, 0, 0)+ 1(0, 1, 0)+ 1(0, 0, 1)= -1v1+ 1v2+ 1v3 so the second column is \begin{bmatrix} -1 \\ 1 \\ 1\end{bmatrix}. The matrix corresponding to the linear transformation is \begin{bmatrix} 1 & -1 \\ 1 & 1 \\ 0 & 1\end{bmatrix}.
You can check that \begin{bmatrix}1 & -1 \\ 1 & 1 \\ 0 & 1 \end{bmatrix}\begin{bmatrix}x \\ y \end{bmatrix}= \begin{bmatrix}x- y \\ x+ y \\ y \end{bmatrix}
Another basis for R^3 would be {(1, 1, 0), (1, -1, 0), (0, 0, 1)}, Applying the given linear transformation to (1, 0) and (0, 1) as before, we again get (1, 1, 0) and (-1, 1, 1). But now we want to find a, b, and c so that (1, 1, 0)= a(1, 1, 0)+ b(1, -1, 0)+ c(0, 0, 1). That gives the three equations a+ b= 1, a- b= 1, c= 0. Adding the first two equations 2a= 2 so a= 1 and then b= 0. (1, 0, 0)= 1(1, 1, 0)+ 0(1, -1, 0)+ 0(0, 0, 1). The first column is \begin{bmatrix}1 \\ 0 \\ 0 \end{bmatrix}.
Applying the given linear transformation to (0, 1) we get, as before, (-1, 1, 1) and want to find a, b, and c such that (-1, 1, 1)= a(1, 1, 0)+ b(1, -1, 0)+ c(0, 0, 1). That gives the three equations a+ b= -1, a- b= 1, c= 1. Adding the first two equations 2a= 0 so a= 0 and b= -1. c= 1. The second column is \begin{bmatrix}0 \\ -1 \\ 1 \end{bmatrix}.
The matrix is \begin{bmatrix}1 & 0 \\ 0 & -1 \\ 0 & 1\end{bmatrix}.