This vehicle is actually going orbital speed, but not quite orbital height (or rather, it's in an "orbit" that has a very eccentric elliptical shape that would cause it to hit the atmosphere on its way back around; it'd be well above a typical orbital height at apogee, though).
You just need to get high enough, and be pointing in the right direction.
“On orbit” typically means in a stable orbit around a body - but in the case of starship, it could have been on orbit, the delta v is more than sufficient, but that’s an unsafe configuration if you don’t know your engines will relight.
Orbit is when an object is traveling so fast that it reaches the horizon of a body before the body's gravity can pull it down to the surface, but perpetually. It's basically perpetually falling around the body. Imagine one of those guys in a wingsuit skimming along the surface of a mountain, never actually touching the surface. It's similar to that, but at a much higher scale.