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There are specific conditions to make a claimant your vassal. If the territory you're claiming is de jure part of one of your titles they'll become a vassal. If they're a member of your dynasty and you press their claim, they'll become your vassal. One thing that always works (AFAIK) is giving them some land first so that they're already your vassal.
Obviously those all require the title be lower ranked than your own.
Otherwise they'll typically become independant.