How to capture bank payment info to store for payment processing using Drupal Commerce?
Commerce Card on File

Commerce Card on File provides an API and user interface for storing
and reusing credit card data on subsequent orders within Drupal
Commerce. The module does not retain full card numbers locally but
instead stores the remote ID of the full card data from the payment
gateway used to validate and process your credit card transactions.
This means card on file data will only be good for a single payment
gateway; if you change payment gateways or accounts, your stored card
data may no longer be usable.

How this module is PCI compliant
This module is safe as it does not retain the full card number. Only the last 3 numbers and expire date are stored in your DB. So if your DB gets hacked, you'll be fine.
Furthermore, when this module connects your payment processor, it uses a token to represent the persons card. Only you can use that token to deposit funds to your account. So even if somehow they intercept the token value, they can't do anything with it.
source: David Kitchen

You should also get Commerce Dunning to deal with expired card numbers.
Commerce Dunning

Dunning management (Delinquent User Notification) is the automated
process that's kicked off when a charge attempt of a recurring order
fails. This process involves periodic customer communication and
payment retries.

Dunning Video Tutorial