Rolling friction is a resistance to rolling (forward motion), and it is quite small in magnitude.
Static friction is friction between two surfaces that are not sliding against each other. It is the centripetal force, turning the car, if you are not skidding.
Dynamic friction is friction between surfaces that are sliding against each other, so it occurs when you are skidding.
Frictional force is mathematically equal to the normal force (i.e. - perpendicular to the surfaces; equal to weight, if on a horizontal surface) multiplied by the coefficient of friction (experimentally determined, for a pair of specified surfaces under specified conditions; commonly between 0 and 1). The coefficient of static friction can be any value up to a maximum (its generally quoted value IS the maximum) that occurs just before the surfaces start to slide; that is to say that static friction is maximum at the threshold of sliding/skidding. The coefficient of dynamic friction, is typically smaller than the coefficient of static friction, for a specified pair of surfaces and conditions, so that there is less frictional force between surfaces, when they are sliding (dynamic friction), than when they are not (static friction). This is why skidding is discouraged, for most effective vehicle control, including braking, steering and acceleration with the drive wheels.