To understand what it means.
Take any function $f:E\rightarrow \mathbb{R}$ and $x_0\in E$. Then consider $$R(x) = f(x)-f(x_0)-f'(x_0)(x-x_0)$$
You can always do that (and rearrange to get your expression), the thing that matters is exactly how that function $R(x)$ behaves when ${x\rightarrow x_0}$ (is it a good linear approximation or is it completely useless?)
For example, if $f$ is a differentiable function it means that.
$$\lim_{h\rightarrow 0} \lVert R_h\rVert = \lim_{h\rightarrow 0} \lVert\frac{f(x_0+h)-f(x_0)}{h} - f'(x_0)\rVert = 0$$
So you already have that $f(x) = f(x_0) + f'(x_0) h +R_h$ and now you know that if f is differentiable it is a good approximation, how good? Well $\lim_{h\rightarrow 0} R_h = 0$. Perhaps you can do even better..
The extra differentiability conditions you mentioned give you more information with regards as to how the difference $R_h$ behaves (what aitor has commented)