it's significantly easier to build orbital habitats in resource-rich solar systems
I think you are substantially over-simplifying this and making a rather large number of assumptions yourself. Difficulties with manufactured habitats will probably scale exponentially with population size, in terms of energy requirements, radiation shielding, impact shielding, etc. A ready-made planet would quite possibly be not just significantly more attractive, but the only viable option. I agree that bio-compatibility would be by no means assured, and probably somewhat of a miracle should it occur, but the Terran bio-sphere offers far far more than just pure biological resources.
And when it comes to energy expenditure on combat - that simply depends upon the technological differential. Yes, if combat is expensive, that will weigh heavily against an armed assault. If combat is essentially zero-cost owing to sufficient technological advance, then it is a non-issue.