No it doesn't and I wasn't aware of that when I got it. It really is a drawback to have to use the canister to vacum furniture, etc., but the upright does work great on the floors.
There is a place to click it open just above the hose on the canister. This is where you would open it to replace the filter. Easy to open and operate.
No. Its moves very easily on the carpet but I do not believe mine is self propelled. I love my vacuum!! Might feel self propelled because it is so light weight.