Depends on your style of play and map size. If you seek a diplomatic or tech victory without any wars, more planets are definitely better. If you seek military conquest, limiting the number of planets can result in faster wins. The reason is that these close in planets are easy to conquer, and you get buildings and tech for free when you conquer. A military transport only costs a bit more than a colony ship...
For big maps, rushing factories on the homeworld is more effective than rushing colony ships. The reverse is often true on the highest difficulty, and smaller maps with fewer habitable planets. In either case, impulse drives are a good tech to have, though on many difficulties, Planetary Improvements is a better first choice to research.