Converting parametrics to a rectangular equation in $2$D is pretty straight-forward, I think: just solve for $t$ and set them equal to each other or do a substitution.
$3D$ is confusing me, however. For example, $r(t) = (t, t, t^2)$ or $r(t) = (t, \sin t, 2\cos t)$
What steps would I take to visualize these as well as make the mathematical connection to the cartesian plane? Of course plotting points is possible, but tedious in $3$D. Others in my class are able to simply look at these and know what shape they make, something I do not know how to do.
By all means, keep the parametrization!
Note that a curve in ${\mathbb R}^3$ has codimension $2$, hence is given by $2$ equations. As an example take the circle resulting from the intersection of the plane $x+y+z=1$ with the sphere $x^2+y^2+z^2=1$.
Instead try to visualize the given curve by following the points ${\bf r}(t)$ with your inner eye in real time while they are "produced". Take your $$\gamma:\quad t\mapsto{\bf r}(t):=(t,\sin t,2\cos t)\qquad(-\infty<t<\infty)\tag{1}$$ as an example. Projecting to the $(y,z)$-plane we obtain an everlasting elliptical movement $$t\mapsto\hat{\bf r}(t):=(0,\sin t,2\cos t)$$ with semiaxis $1$ in $y$-direction and $2$ in $z$-direction. According to $(1)$ the actual point ${\bf r}(t)\in\gamma$ in addition moves with constant speed $1$ in $x$-direction. It follows that the curve $\gamma$ is an "elliptical helix" with pitch $2\pi$.