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2. To assimilate, click on that minor system and click on their funny icon on the planet they are on to open up the diplomacy screen. Most factions can only use 'Praise' which gives +1 friendliness per turn and can then keep doing that until you open the Assimilate dialogue (which usually forces a quest to complete to get the minor.)
Two ways, well technically 3 if you want to just fully war them and conquer it. One is having suzerainship i.e. being the sovereign of them through influence being given an option to assimilate with influence. This is normally very Inf expensive. The other is to pay dust and be given some kind of quest or task to complete to get them to join you. This route looks cheaper but often takes way longer and can be way more convoluted and difficult to achieve, depending. Also watch out for AI's trying to steal your minor out from under you.
It is hardly worth colonising system with only 1 planet but if there is 4 or more planets of desired type with resources or effects you should colonise quickly.
It is hard to tell whats the right procedure. It all depends on situation. You dont dash to piece of bread but you sprint to big steak with sauce dont you? You dont steal from rotwailers bowl unless meat is really juicy and you can handle previous owners wrath.