Recompiling your kernel is one of those things that can be intimidating to a new linux user, but it really isn't that bad (I went through that apprehension myself). You will find that it takes very little time and as long as you are somewhat comfortable it is painless.
It is true that you can speed up your boot process by customizing your kernel, however that depends on how your genkernel is compiling in the first place. If you build in support for a device into the kernel, then it will always load that support on boot. If you build it as a module, it only loads it at boot time if you tell it to.
I would suggest getting yourself comfortable with how exactly a kernel is configured. Once you are comfortable with how to make changes, then all you really need to know is what hardware is in your computer.
Do the following (just explore, try to find your hardware, and don't save the configuration until you think you know what you are doing.)
Code:
cd /usr/src/
ls -l
<This is the output from mine>
lrwxrwxrwx 1 root root 22 Oct 2 09:46 linux -> linux-2.6.22-gentoo-r8
drwxr-xr-x 20 root root 4096 Jan 11 20:47 linux-2.6.22-gentoo-r8
drwxr-xr-x 19 root root 4096 Nov 13 22:39 linux-2.6.22-gentoo-r9
You will notice that the "linux" directory is actually a symlink to the current kernel.
Now cd to the /usr/src/linux directory. If you type "make menuconfig" then you will enter into the configuration screen.
Items have brackets next to them. If there is a[*] then that option is built right into the kernel. if it is [M] then it is built as a module. (i.e. you could call it with modprobe <module.name>).
The gentoo How-To docs do a really good job at explaining the commands to build it once you have saved a new configuration.
make & make modules_install
To be able to boot the newly configured kernel you then just copy the bzImage to your boot directory and change your grub configuration.
If you have any more questions this is the place to post them.