Yes we can reach high levels of piety by following the examples and advice of the Ahl ul Bayt (as). We must avoid sins as much as possible, seek forgiveness, fulfill our obligations and also try to add more supererogatory acts of worship.
As far as books of Theology, i would recommend Principles of Faith (Usul e Deen) by Ayatollah Wahid Khorasani and also Faith of Shia Islam (Aqaed Imamiyya) by Allama Muhammad Ridha Muzaffer. A good YouTube series to watch would be: http://www.youtube.com/playlist?list=PLFF83513F53A767BA