[CAUTION: I am not a teacher:take the advice and or corrections offered in this post at your own risk.
If you doubt the information, please get a qualified opinion from one of the teachers on these forums.]
Really, you should view finite verbs not alone, but in respect to their counterparts non-finite verbs (also called verbs in the infinitive form).
Essentially you could view finite verbs as simply inflected verbs, but in truth they're verbs restricted by something like number or tense.
Very simple examples:
We go, they went, She goes (all finite)
to go (non-finite), this version can be used "more" without changing at all as in: "I want to go" "They had to go" and such, which is why it's not finite or "limited".