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Edit: dejure is your right to something by law. Meaning you have a title stating that you have a right to all the land. It gives you a casus beli.
Basically if you own a county that someone has a duchy over and you're not under them, they are legally obliged to the county you own. You are a de facto ruler, while they are the ruler by de jure.
For example, if someone holds the Kingdom of England, then all of its Duchies are its De Jure, so if you own one of them the King of England will want it. The same happens the other way around if you want to take it.
So, a country can belong to a Duchy "de jure" (by law) but not "de facto" (by fact/reality). For example, because your evil, rival, neighboring Duchy owns the county. That bastard!
If you own a Duchy title and there is an independent County that belongs to your Duchy "de jure", you can ask him to become your vassal. He may accept, or not, depending on his opinion of you, and other modifiers.
Or you can just declare war on him and conquer him/force him to become your vassal. (you may need certain innovations discovered first)
Now, if you mean to ask about "De Jure drift", it works like this:
If you own a Kingdom title, and ALL the counties of a Duchy that neighbours your kingdom, that Duchy starts to drift to become a "de jure" part of your kingdom. It takes 100 years on default, and can be sped up through a councilor action.
If you own an Empire title and ALL the counties of a Kingdom that neighbours your Empire, that Kingdom starts to drift to become a "de jure" part of your Empire, just like explained above.
In both situations explained above, the drift will NOT happen, if you also own the Kingdom/Empire title of your neighbour.
For example:
You are the King of England. If you own all the titles of the Duchy of Lothian, it will start to drift to the Kingdom of England. But if you are also the King of Scotland, the Duchy of Lothian will remain a de jure part of Scotland.
De Facto = What it actually is.
If you go to the De Jure Kingdom map you look at England for instance you will see what the Kingdom of England should be. If you are the king of England then you have De Jure claims on all those counties, because they should be part of England.
Yes pretty much, if you create a Title then what is under it is consider its De Jure, so you have a Casus Belli; if the Title is a Duchy for example and its De Jure Counts are independent, you can ask for Vassalisation as well, there are different modifiers that decide if they will accept or no.
It's also important to note that you'll get less Taxes and Levies for non-De Jure Vassals, so it's recommendable to make/give away Titles if you are a King or Emperor for instance.