Higher reps won't "tone" or "shape" or "firm" your muscles any differently than heavy weights will. This is one of the biggest weight lifting/bodybuilding misconceptions.
Shape is determined by genetics. Firmness and tone is determined by bodyfat. Higher reps will give your muscles more endurance, but they won't look different.
Even if you don't want to be "big" you still need to eat over your caloric maintenance level for a little while to build however much muscle it is you want. Any amount of muscle must be created on a caloric surplus. So, you can do your cardio while building muscle; just make sure to replace the calories so your muscles will grow.
For your muscles to grow you need to give them intense stimuli but also variety so they don't grow accustomed. Change exercises every 5 or 6 week (with a week of deloading in between for your CNS to recover) and incorporate non-linear periodization. This means use a different intensity (relative effort of your lifts...marked in percentages...eg. 60% would be more endurance while 70% is hypertrophy and 85% is power/strength), rep ranges, rest intervals, and tempos each week. So, one week might be 60% @ 3 x 10 with 1 min rest @ a tempo of 1-0-2, etc. See what I mean? Your muscles need variety. If endurance is your goal, orient the workouts more to that rep range, but still include some heavy workouts.