You can use an inner join to filter for rows that have a matching row in another table:
SELECT DISTINCT records.id
FROM records
INNER JOIN data d1 on d1.id = records.firstname AND data.value = "john"
INNER JOIN data d2 on d2.id = records.lastname AND data.value = "smith"
One of many other alternatives is an in
clause:
SELECT DISTINCT records.id
FROM records
WHERE records.firstname IN (
select id from data where value="john"
) AND records.lastname IN (
select id from data where value="smith"
)