The Datasheet which you gave on the very first page the current rating of the motor is given that is 20A.
It does not mean that you can run 20A all the time
Secondly There will be no problem of current unless there is high load on the motors.
I like to tell somethings about battery.
What I am trying to say is that when you use a battery of 3300 mAh it means that if you can draw 3300 mA current from that battery this battery will last for an hour. Similarly if you drawing 1650 mA current it will last for 2 hours.
Now about motors drivers, motor drivers may fail due to battery for two reasons
1- When you apply more voltage to motor driver than it mend to withhold.( Which in your case you are aware of and it is not a problem).
2- When you run a motor through driver and the load of the motor has exceeded and is drawing more current. For example when you try to stop a running motor manually then motor will try to draw more current. Now if it happens your motor driver will not blow instantaneously but it will take some time. That is mentioned in the second image.