Well, if your fisrt priority goes to conquering more distant planets, you later can colonize the planets already within your borders. Of course there is also the issue of xenophobes and some empires putting their colonies within your space... so tread with caution if you do that, or build frontier outposts in order to get around the second issue.
Minor species (uplifted?) can be great as long as you're not xenophobic yourself, and getting multiple species with different climate preferences can be great to drop colonies on every single planet (or just build synths when you can, although that might kill your energy economy if you don't prep for that).
Also, you probably want to give your well developed central worlds to sectors and keep your new colonies while turning off redevelopment, otherwise the sector AI will in my experience take quite a while to build up new colonies, and when it does, it might not be the way you want it.
All of the above are things I do or at least tried in singleplayer, and they worked for me.
EDIT: The synth thing is rather mid- to lategame, so it might not help you immediately, and I just realized that now.