How to restore an app to my screen if I have inadvertently placed it in Cloud storage?

Apps are not placed in iCloud storage. If you delete an app it can be dowloaded again from the App Store.

Also note that apps can be removed from the home screen without being deleted. Go to the App Library (swipe left past your last home screen). From there you can touch and hold an app and slide it left back to the home screen.

Also note the Search window at the top of the App Library.