How to avoid the draw? How to win?

In this game:


I managed to save it by pure luck.

However what I want to know is what to do in case I'm one day on the other side.

What move could black have made in order to avoid the draw? I'm thinking almost literally every move BUT taking the queen.

Now, knowing how to avoid the draw, Is there any way to win with white? In other words, assuming you have enough time, is there any way to use the windmill in order to push for the win?

Thanks.

There is nothing more than a draw at the end.
However with the splendid 32...Rxc2!! black could have won. If white captures the rook, then the perpetual check is gone.