We prove optimal improvements of the Hardy inequality on the hyperbolic space. Here, optimal means that the resulting operator is critical in the sense of [19], namely the associated inequality cannot be further improved. Such inequalities arise from more general, optimal ones valid for the operator P λ := −∆ H N − λ where 0 ≤ λ ≤ λ1(H N ) and λ1(H N ) is the bottom of the L 2 spectrum of −∆ H N , a problem that had been studied in [5] only for the operator P λ 1 (H N ) . A different, critical and new inequality on H N , locally of Hardy type, is also shown. Such results have in fact greater generality since there are shown on general Cartan-Hadamard manifolds under curvature assumptions, possibly depending on the point. Existence/nonexistence of extremals for the related Hardy-Poincaré inequalities are also proved using concentration-compactness technique and a Liouville comparison theorem. As applications of our inequalities we obtain an improved Rellich inequality and we derive a quantitative version of Heisenberg-Pauli-Weyl uncertainty principle for the operator P λ .In case of Cartan-Hadamard manifold M of dimension N (namely, a manifold which is complete, simply-connected, and has everywhere non-positive sectional curvature), the geodesic distance function d(x, x 0 ), where x 0 ∈ M , satisfies all the assumptions of the weight ̺ and the above inequality holds with best constant N −2 2 2 , see [31]. In particular, consid-Date: November 23, 2017. 2010 Mathematics Subject Classification. 46E35, 26D10, 31C12.