Accessing My Maps from Google Maps app?

Hi,
I just spent a good hour+ trying to figure this out and not much luck. I simply want to be able to access a "My Maps" location from the Google Maps app to get directions to it from My Location. Can it be done? I assumed so because it's seems to be really basic functionality, but I can't figure out how.

The Layers option appears in something higher than Maps 3.1.2, which is what I have. It seems like there was no way to do it before. I could figure out how to try to update Maps-- I'm thinking it's tied to the OS, and updated in 1.6, but My understanding is that OS won't run on Eris.

Also, is there a way to edit the directions Google gives? I realized I'm having problems because I usually look it up on a desktop and use paper, so I can parse all the superfluous steps and really get it down to the bare minimum. Trying to glance at this thing like paper is a real problem. Really want some feedback to improve this if possible!

Thanks,
brian