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The Peripheral Nervous System (PNS) comprises nerves that branch out from the central nervous system (CNS)—which includes the brain and spinal cord—to various body parts. This system is responsible for transmitting signals between the CNS and the rest of the body, allowing for communication and coordination of motor functions, sensory information, and involuntary actions.

Option B reflects the correct function of the PNS, as it encompasses a vast network of nerves that extend throughout the body, facilitating interaction with muscles, organs, and tissues. This includes both sensory nerves, which carry information from the body to the CNS, and motor nerves, which transmit signals from the CNS to the body's muscles and glands, thus playing a crucial role in both voluntary and involuntary activities.

The other options do not accurately describe the PNS. For instance, nerves that solely connect to the brain or are contained within the spinal cord pertain to the central nervous system, not the peripheral system. Likewise, restricting nerves to just the arms and legs neglects the fact that the PNS also encompasses nerves from other parts of the body, such as the torso and head, making B the most accurate representation of the Peripheral Nervous System.