- The proof to be "complete" or not depends on what is assumed the readers already know.
- The measure is $\sigma$-finite, but the result only applies to sets $A \in \mathcal{A}$ that has finite measure.
- Yes, this lemma means that the "new" sets that we now can measure with $\mu$ can be approximete arbitrarily close (in the measure sense)by set that were already in $\mathcal{C}$.
- Well, to make the proof easier to understand it, a couple of sentences and details can be added, but the sketch is essentially complete. Let me know if you what me to detail the sketch.
Per your request, here is a very detailed proof. We will split the result in two: one for $\sigma[ \mathcal{C}]$ and the other for $ \hat{ \mathcal{A}_\mu}$.
The first result:
Let the $\sigma$-finite measure $\mu$ on the field $ \mathcal{C}$ be extended to $ \mathcal{A}=\sigma[ \mathcal{C}]$, and also refer to the extension as $\mu$. Then for each $A \in \mathcal{A}$ such that $\mu(A)<\infty$, and for each $\epsilon>0$, we have $$\mu(A\triangle C)<\epsilon\text{ for some set } C\in \mathcal{C}.$$
Proof: (to help keep all details visible, we are goind to note the extension of $\mu$ to $\sigma[ \mathcal{C}]$ by $\overline{\mu}$).
Since $\mu$ is $\sigma$-finite measure, we know that there is a unique extension $\overline{\mu}$ of $\mu$ to $\sigma[ \mathcal{C}]$. So, as a consequence of Carathéodory's theorem, such extention $\mu$ to $\sigma[ \mathcal{C}]$ coincides with the restriction of the outer measure $\mu^*$ to $\sigma[ \mathcal{C}]$. So, we have, for all $A \in \mathcal{A}$,
$$ \overline{\mu}(A)= \mu^*(A) = \inf \left \{ \sum^\infty_{n=1}\mu(A_n) : \textrm{for all } n , A_n \in \mathcal{C} \textrm{ and } A \subseteq \bigcup^\infty_{n=1}A_n \right \} $$
Now, given any $A \in \mathcal{A}$ and $ \overline{\mu}(A)<\infty$ and given $\epsilon>0$, there is $\{ A_n\}_n$ such that, for all $n$ , $A_n \in \mathcal{C}$, $A \subseteq \bigcup^\infty_{n=1}A_n$ and
$$\overline{\mu}(A) \leqslant \sum^\infty_{n=1}\mu(A_n) < \overline{\mu}(A) + \frac{\epsilon}{2}$$
Take $N_0$ such that $\sum^\infty_{n=N_0+1}\mu(A_n)<\epsilon/2$. Define $C= \bigcup^{N_0}_{n=1}A_n$.
Since $\mathcal{C}$ is a field, it is clear that $C \in \mathcal{C}$ and we have
\begin{equation*}
\begin{split}
\overline{\mu} (A\triangle C) & = \overline{\mu}(A\setminus C)+\overline{\mu}(C\setminus A) \\
& \leqslant \overline{\mu}\left (\bigcup_n A_n\setminus C \right )+\overline{\mu}\left (\bigcup_n A_n\setminus A \right)\\
& =\mu\left (\bigcup_n A_n\setminus C \right )+\overline{\mu}\left (\bigcup_n A_n\setminus A \right)\\
& =\mu\left (\bigcup_n A_n\setminus C \right )+\overline{\mu}\left (\bigcup_n A_n\right) - \overline{\mu}(A) \\
& \leqslant\sum^\infty_{n=N_0+1}\mu(A_n)+ \sum^\infty_{n=1}\overline{\mu}(A_n) - \overline{\mu}(A) \\
& =\sum^\infty_{n=N_0+1}\mu(A_n)+ \sum^\infty_{n=1}\mu(A_n) - \overline{\mu}(A) \\
& =\sum^\infty_{n=N_0+1}\mu(A_n)+ \left ( \sum^\infty_{n=1}\mu(A_n) - \overline{\mu}(A) \right )\\
& < \frac{\epsilon}{2}+\frac{\epsilon}{2}=\epsilon.
\end{split}
\end{equation*}
Now the second result:
Let the $\sigma$-finite measure $\mu$ on the field $ \mathcal{C}$ be extended to $ \hat{ \mathcal{A}_\mu}$ where $ \mathcal{A}=\sigma[ \mathcal{C}]$, and also refer to the extension as $\mu$. Then for each $A \in \hat{ \mathcal{A}_\mu}$ such that $\mu(A)<\infty$, and for each $\epsilon>0$, we have $$\mu(A\triangle C)<\epsilon\text{ for some set } C\in \mathcal{C}.$$
Proof: (to help keep all details visible, we are goind to note the extension of $\mu$ to $\hat{ \mathcal{A}_\mu}$. by $\overline{\mu}$).
Since $\mu$ is $\sigma$-finite measure, we know that there is a unique extension of $\mu$ to $ \mathcal{A}=\sigma[ \mathcal{C}]$ and so a unique extension $\overline{\mu}$ of $\mu$ to $\hat{ \mathcal{A}_\mu}$. So, as a consequence of Carathéodory's theorem, such extention $\mu$ to $\hat{ \mathcal{A}_\mu}$ coincides with the restriction of the outer measure $\mu^*$ to $\hat{ \mathcal{A}_\mu}$.
The rest of the proof is identical to the previous proof, just replacing $\mathcal{A}$ by $\hat{ \mathcal{A}_\mu}$.