The Netware 5.1 CD includes a version of Caldera DR-DOS. Yes, you are correct that it is not the same version of DOS as used in Windows. The CD is bootable so as long as your CD-ROM is also bootable you won't need any other software.
Let's assume your "server" has a 10gb drive. You will want to use DOS and run fdisk to create a 500mb partition. You will also want to make this partition active. You will then be prompted to reboot. Then you will want to format c: drive so that it is bootable. Then you will begin the Netware installation. During Netware you will be asked to create a SYS volume. This is the equivalent of the c:\windows directory on a PC. The default setting is to use all the remaining free space, 9.5gb in our scenario. I would modify this to no less than 2gb. Later in the GUI portion of the Netware install you will get the opportunity to create other volumes using the remaining 7.5gb. You can create as many as you want but I would keep the name under 8 characters. These volumes are where you will keep all your apps, user files, MP3s, etc.
Good luck.