To get maximum torque you need to deliver the specified current. Torque is a function of amps and the number of turns in the coil, or ampere-turns. Voltage relates to how fast you can turn the motor while maintaining the specified current.
The coils in the motor resist the change in current (turning coils on and off to make the motor turn) based on their inductance. The inductance will allow the current to change at a certain rate. Increasing the voltage increases this rate of current change. The faster the motor turns, the faster the coils need to turn on and off. At a certain speed the inductance will not allow the current to reach the specified amperage in the amount of time allowed, and the torque will begin to drop. So if you want to make your motor turn faster while maintaining a specific current, you need higher voltage.
Conversely, a lower voltage will limit torque at a lower speed. So 34v will still provide the holding torque, but the rapid movement will be limited.