I think O'Neill colonies are a much better option for colonizing space than terraforming planets.
O'Neill cylinders can be built relatively quickly and they would have all the conforts of home, unlike planets terraformed in hundreds/thousands of years.
The first experimental colonies could be built at the Lagrange points. It would make sense to build most colonies near the asteroid belt, where exploiting the asteroids' resources would ensure economic viability.
And when humanity aquires the tech to expand to other star system's - the sky will no longer be the limit

- an advanced civilization might build "orbitals" like those depicted in Iain Banks "Culture" series (structures with considerable advantages when compared to planets).
I said that humanity can be perceived as a Von Neumann machine by aliens. But these aliens - like all life - inevitably, evolved much the same way humans did. I doubt they have a doctrine that dictates the destruction of all life/von neumann machines for the simple reason that they're also life - or, at least, they were at one time. They may try and destroy Von Neumann machines that went berserk and kill everything in their path - but in this case, the reason for the alien agenda would be the agressivity of the von neumann's, not their ability to replicate.
Now - what form could the interactions between us and intelligent alien civilizations have?
I can tell you what aliens won't want from us. They won't be interested in mineral resources or something similar. The universe is full of these resources - and many of them are not in an alien gravity well that requires energy to traverse.
They won't want to use humans as slaves - robots are much easier to manage and more effective for menial labours, and any civilization stupid enough to give the decision-making to someone else won't survive for long.
Maybe they'll want to harvest our brains as a cheap end efficient alternative for their supercomputers

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What could an alien civilization want with us?
It may want to study us or even to establish ties of friendship with humanity.
Or it may want to destroy/conquer us because, very soon - in galactic time - we will pose a threat to them. A preemtive strike, so to speak.
And, of course, their behaviour could be dictated by religion/doctrine/other cultural values.