I’m not sure there is a yes or no answer to the question of whether we interpret religious books correctly. Who is the expert who can categorically say a person is not understanding the religious book correctly? For example, is it a Catholic priest for the Bible or is it an Iman for the Quran? I have often wondered how two people reading, for example, the same scriptural passage in the Bible can have two completely different interpretations.
I think part of the answer lies in the fact that your experiences and beliefs will lead you to believe one thing and since another person’s experiences and beliefs are different from yours, they will believe something different.