So I have been playing for nearly 2 years but all of that has been picked and I have never really thought about fingerstyle or anything more than improvising. Recently though, I've wanted to start playing more fingerstyle tunes and more importantly I've been wanting to work my way through a chord and a melody, but I don't really know how to describe what I'm wanting to do. Best I've found is "chord melody" which I watched a couple videos on but I don't know if it's exactly what I'm looking for.

I'll try my best to describe the skill I want to learn: to be able to move the chord around and play a melody alongside it, changing the bass note and making interesting chords not just playing randomly. My music theory is below intermediate at best but I'm on the slow climb up. Any help on what it's called that I'm looking for and any ideas on how I can acquire this skill and practice it? Thanks