There is not any way to see an event's description from the calendar view. It was not the intention of the module that the calendar would be the main view, though we are definitely hearing from our customers that this is something we need to add in a future version. We are aware of this and will see that it gets addressed, but for now the workaround would be to include a link the description in the overview, so that you can get there from the calendar.
Hope that helps,