Display Posts with template on a Page

query_posts() is a horrible function and shouldn’t be used. Also it doesn’t has much to do with loading template, since it was originally designed to be used in template. Should not be used.

If you are looking for logic of how WP picks template files from theme to load see Template Hierarchy.

If you just want to load some [part of] template manually, get_template_part() is probably what you are looking for.