Mainly you want to use the Queen for Parasite and Infest abilities.
Use Parasite like crazy, especially on Terran Transports, and do not shoot them down (yet). It will show you where their base is and notify you of when they are about to attack. Same deal with any other units you can get ahold of, like ground units such as marines or SCV workers, who are likely to stick around the base and not be disposed of shortly.
In one or two missions you have several terran bases, some of them less defended than others. Here is where you want to use the Infest ability, shortly after hitting one of the smaller bases. Then you get the poppers. Make sure if you're using poppers that you only send them in one at a time and keep them clear of your assaulting units. You can have them all coming in but space them out significantly in a line then order them all to go (this way they will avoid blowing each other up)