In Trek, such preempting of threats would be a bit futile, because one would still need to invent a wholly separate mechanism by which it becomes impossible to sneak in to a planet in an invisible starship at STL speeds.
We have seen (well, uh, you see...) invisible ships seemingly (ah, you get my drift) effortlessly infiltrate major homeworlds, though. So there is no technological hurdle there, and we have to resort to things like "fair play" or "doctrine of mutually assured destruction" to explain why planets don't get devastated more often. The storytelling need for a "safe zone" around a planet to stop warp-based attacks (approach of warships, deployment of WMDs, use of warp itself as a weapon) is greatly reduced that way, too.
I'd hesitate to claim that warp close to planets requires great care. The rickety Klingon ship that went to warp mere dozens of kilometers above Earth would be my last candidate for finesse, and Cochrane's primitive test rig would be another dubious case for getting it right. I'd rather consider warp quite compatible with the presence of planets. And the existence of natural spacetime-warping fields about as insignificant as the feeble magnetic fields of Earth (or, say, Jupiter) are in comparison with manmade magnetics such as MRI machines...
That Kirk in The Motion Picture would hesitate to go to warp right away would be due solely to his engines being brand new and untested; indeed, his trip from Earth to Jupiter would be that test, conducted at warp 0.5 as stated! Archer's ship supposedly did warp test flights to Neptune and back, so there's "postprecedent" there. The inconsistency at Bajor (even within the episode quoted!) I'd in turn blame on Bajor's unpredictable subspace weather, with its belts of weirdness and major "Invasive Procedures" and "Things Past" style storms.
Timo Saloniemi