Am I okay until I have to re-register and re-insure or should I not play around with this?

My mom moved in with my husband and I because she couldn’t take care of herself anymore. She has a car that we got insured and registered in her name when she moved here. The title is at the loan company. She still has a loan on this car. She only made a few payments on this car before she passed in 9/2016. But now I don’t know what my rights are as far as transferring everything over. I’m afraid the loan company will say no, that I can’t just make payments, that I need to refinance it in my name and my credit isn’t all that great right now. We stupidly gave up our car when she moved here not to have 3 vehicles. I wasn’t thinking what if she passes. I don’t want to take over this car and then be taking on all her debts too. She had a lot of debt. I couldn’t afford her debts along with our own. My husband and I are on the insurance because of her being sick they put us on knowing we would be driving her places. My mom was divorced. It’s just my sister and I. I am the oldest but I am also sure my sister would say fine take it on. I don’t know how to go about this. It’s not like I am being given a car. I am making $200.00 payments a month and we will be taking on an $11,000 debt for the car.