Search engine friendly URL's (Keyword Rich) as a start but you need to focus more on your inner linking structure and content
if u have new dynamic website then I have suggestion for u plz change module setting and create static pages for ur website because google always like static pages. If u can not do create static pages then use different meta tags manually for ur website's all inner pages. and submit all pages in social bookmarking website, create google site map and submit to google webmaster tool. Target inner pages for off page services like - social bookmarking, directory submission, press release, profile listing, local marketing, forum posting, blog posting, and content link building. If u want more suggestion and help to optimize ur website then u can ask me by email for forum messaging system.
I think you are asking for optimization on SE. I dont feel any diff in both static and dynamic pages. Do the site with style sheet and make separate template for each category then include it in the dynamic page.. And make quality to the main categories and the main page. Also try to update in the main categories and index page always at least in a week
In the years of blogging google is indifferent to static and dynamic websites. There are some SEO requirements, which should be followed, and if you write contextual posts you will increase your possition in google quickly. Most important for your researched keywords is to be contextual, and to meet exactly these words in your text. I have a lot of dynamic websites, and all are going better and better. Google gets update almost everyday and gets everything clear.