Well, keep in mind, humans (even at modern TL here on earth) have a nasty habit of breeding exponentially. This means that, given a planet to run amock on, they'll max out it's resources in a few thousand years. And the bigger the overall population, and the more mobile it is, the faster they do it. (And do it, and do it... sorry, biology humor).
So, even with a lot of habitable planets, there's still going to be a push for space, such that less desireable places will be popped.
Also, many rather unpleasant places can have life, and be in the habitable zone. Life on worlds with exotic atmospheres? Possible, certainly. Won't be like we're used to, though.
Also, many frozen rocks could have valuable mineral deposits, unique atmospheric components, strategic importance, etc. that make them desireable anyways.