Short answer: (commuting) polynomials with coefficients from a (commutative, associative, unital) ring R are just things that can be clearly evaluated in any ring containing R.
Some definitions
I'll describe the definition a few times, so you can see how things like this work.
In this answer all rings and algebras are commutative, associative, and unital.
(1) Basically, PolynomialRing(R)
is an R-algebra T and a special element t of T, but T has an extra method called Evaluate(S,s)
that takes another R-algebra S and an element s of S and produces the unique R-algebra homomorphism from T to S that sends t to s. The existence of the homomorphism is more "what you can do with T" but the uniqueness of the homomorphism is important to define the unique (up to R-algebra isomorphism) polynomial ring over R.
Similarly $\mathbb{R}$ is an ordered field, so we know what we can do with it: we can add, subtract, multiply, divide, and compare. We need "complete" to know we have the right field (and it gives us a few other neat operations like sup and inf, so that limits exist). The evaluation homomorphism tells us what we can do with the algebra, and the uniqueness of the evaluation homomorphism tells us we have the right algebra (and gives us a few other neat category theory like operations like adjoints, so that something like limits exist).
(2) Given a ring R the polynomial ring with coefficients R is an R-algebra T with a distinguished element t such that for every R-algebra S and element s of S there is a unique R-algebra homomorphism from T to S that sends t to s.
The homomorphism is called “evaluating the polynomial at $t=s$”.
If $(T,t)$ and $(X,x)$ are two such polynomial rings, then there is a unique R-algebra homomorphism from T to T that sends t to t (namely the identity), but there is also the composition of the homomorphisms from T to X and X to T sending t to x and x to t. Hence the composition is the identity, and both are isomorphisms.
(3) Given a ring R the polynomial ring with coefficients R in n indeterminates is an R-algebra with distinguished elements $t_1,t_2,\dots,t_n$ such that for every R-algebra S with element $s_1,s_2,\dots,s_n$ there is a unique R-algebra homomorphism from T to S sending $t_1,t_2,\dots,t_n$ to $s_1,s_2,\dots,s_n$ (in that order).
A sequence $s_1,s_2,\dots,s_n$ is a function from the numbers $1,2,\dots,n$ to S. One doesn't have to use numbers for variable identifiers. Any set X can work.
(4) Given a ring R and a set X, the polynomial ring with coefficients R and indeterminates X is an R-algebra T containing X as a subset such that for any R-algebra S and function from X to S, there is a unique R-algebra homomorphism from T to S agreeing with the function on X.
What are algebras?
In case you don't already like R-algebras or rings, let me describe them in simple terms.
Begin with the case that R is a field. An R-algebra is either of the following equivalent ideas (choose one that makes sense):
(1) An R-vector space S with a multiplication that is associative, commutative, and unital, and that works well with scalar multiplication: $(rv)(w) = r(vw) = v(rw)$ for r in R, and v, w in the vector space.
(2) A ring S that contains R as a subring (where the multiplicative identity of S is the same as the one in R).
An R-algebra homomorphism is just a function that preserves everything: $f(v+w) = f(v)+f(w)$, $f(rv) = r f(v)$, and $f(vw) = f(v) f(w)$. Notice that $f(r)=r$ if you take viewpoint 2.
Since R-algebra homomorphisms preserve addition and multiplication and coefficients, they allow us to evaluate any "polynomial" where by polynomial I mean a recipe for combining ring elements using addition, multiplication, and scalar multiplication, like "Take a ring element, square it, add 3, multiply by the original element, and add 5", better known as $x\mapsto (x^2+3)x+5 = x^3 + 3x + 5$. The right hand side is just a polynomial like we know, and R-algebra homomorphisms allow us to say that if x is replaced by a specific algebra element, then we know what the entire polynomial should be (just follow the recipe).
So polynomial rings just have to "exist" in some sense: they are just recipes for combining elements of algebras (recipes of adding and multiplying). The surprising thing is that they exist in a very simple sense: they are themselves R-algebras. The recipes themselves can be added and multiplied.
Proving that they exist as R-algebras requires some goofy things like sequences (just like proving the existence of a complete ordered field required goofiness like cauchy sequences or dedekind cuts), but working with them as recipes doesn't require anything like that at all.
Incidentally, the definition of algebra for a general commutative ring R is not much different: replace "vector space" with "module" and "S contains R as a subring" with "has a ring homomorphism from R into S".
CGT aside
On the off chance you like computational group theory: a common way of representing elements of "polynomial groups" (called free groups) is by "monomials" (groups only have multiplication, so no adding allowed) or "words" (like strings in CS). However, words can be a little limiting in practical computations, and there are other data-types used including "straight line programs" which are quite literally recipes for multiplying stuff together. "Take element # 1 and multiply it by element #2 placing the result in element #1. Take element # 1 and multiply it by element #1 and place the result in element # 1." or more briefly $[a,b] \mapsto [(ab)^2, b]$.
These recipes can often be stored in space logarithmic in the space required for general words. They can also speed up some calculations by recording a particular efficient "addition chain" to produce a list of group elements (multiplying group elements sometimes takes a few seconds per multiplication, so it is important not to waste them).
A lot of times one works with recipes as if they are just recipes, but it is occasionally important to know that the recipes themselves form a group and that there is a unique group homomorphism (evaluation) that takes the formal "element #1" to a specific element of a specific group.