I work for Terracotta as a Software Engineer.
At this point, you can't add a node to a Terracotta Cluster dynamically. You'll need to shut down the cluster, add the new servers to your tc-config file and then restart the cluster.
As far as your understanding of the architecture goes, it's correct when seen from a 30,000 feet level. For sessions replication, I recommend that you look at our Sessions product.