Diablo 3 saves,checkpoints, grinding...

I know that Diablo 3 saves after you complete a quest (checkpoint) but is that it? I recently started in town, did some exploring and fighting and returned to town with much gold and experience. When I went back the next day, it was not there. Is there a way to force a save? Or is the only save "checkpoint reached"?

Also is it possible to grind? I'd like to just jump in and play casual and get gold and XP, but if there is no save and progress is limited to checkpoints, it may not be possible. Or is it?

I have the Brady guide, but I did not find anything specific (yet) on these points.

Thanks

Frank

P.S. There is a great iPad version of the Diablo 3 Brady guide in the App store.