Non-contact voltage detectors are versatile and useful but their behaviour is more subtle and complex than might appear at first glance. Their indications can be easily misinterpreted unless you understand about electric fields, which is perhaps why some people say they are unpredictable and useless because they don't fully grasp what the detector is telling them. As a newcomer, I'd suggest putting the non-contact detector aside for now and getting used to taking measurements with conventional test equipment. Return to it and discover its unique advantages once you are familiar and competent at using the MFT and multimeter.
Voltage is always measured between two points, but you have not identified what the other point is, so the numbers are meaningless. A statement such as 'I measured 0.021V between the pipe and the main earthing terminal' conveys information. Voltages like these, down in the tens of millivolts, can be completely insignificant or moderately interesting depending on what exactly you are trying to discover.