Sailing ships had rudders at the stern.
Sailing ships must have rudders. Columbus's ships were no exception. There is a nice picture of a nao at the link. The Santa Maria, The flagship for his voyage when he discovered the new world, was this type ship. The Niña and Pinta were caravels. They also had rudders.
stern-post rudders
stern-post rudders
Navigational compasses and stern mounted rudders were medieval developments.
Airships have engines pushing them through the air and big rudders at the rear. When the rudders are put at an angle WRT the airstream, the ship will turn. For up/down they can either vent/fill some of the lifting gas, or - to some degree - use rudders for that too.
A sailor can manage a ship better with rudders and move the ship. Larger sails were also moveable so they could change direction and speed.
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Inside cargo ships, there are various compartments for storing goods, machinery for loading and unloading, and crew quarters. Outside, cargo ships are equipped with navigation systems, communication devices, and equipment for anchoring and securing cargo. They also have engines, propellers, and rudders for propulsion and steering.