The speed with the wheel off the ground depends on the motor constant (Kv). When the motor spins it becomes a generator. The voltage it generates is opposite to the battery voltage and is equal to RPM x Kv. When the motor reaches a certain RPM the net voltage is no longer enough to push the controller's maximum current through the motor, so power decreases from that point and eventually reaches zero when RPM x KV = battery voltage, since the net voltage is zero, so no current can flow.
Every motor has a different Kv, which depends mainly on how many turns of wire there are around each pole in the stator. Because of this effect, motors reach maximum power around 75% of their maximum speed and maximum efficiency at around 80% of max speed, so you choose a motor that has a maximum RPM of about 1.3 times what you expect your modal powered riding speed to be.
For a 26" wheel, that would be around 260 rpm for 15 mph and 330 rpm for 20 mph.
The speed of any motor will increase in proportion to the battery voltage, so a 36v motor will run 30% faster at 48v (10S vs 13S). Likewise the motor's max speed when the battery is nearly empty will be about 75% of what it is when the battery's full (3.1v vs 4.2v per cell).