No matter how you measure it, whether you measure the amount of mass or you measure the number of bodies, most of our solar system exists out beyond the orbits of the asteroids. So we could not have claimed to know our own solar system until Voyager had toured the giant planets.
Science is not the means by which we come to understand why physical laws and circumstances are the way they are. When we ask why - assuming the question is really 'why' and not 'how' - we are really asking to know the motive of some responsible agent capable of reason.
Voyager found Saturn to be a planet with a complex interior, atmosphere, and magnetosphere. In its rings - a vast, gleaming disk of icy rubble - the mission recorded signs of the same physical mechanisms that were key in configuring the early solar system and similar disks of material around other stars.
The reasons why images are so primal and people immediately relate to it is that we are exquisitely engineered to interpret information that is arrayed in two dimensions. That's our eyesight. That's how our eye-brain system works. So it immediately feels to us when we look at an image like we have extended our senses.
I read about eastern philosophy and religion and existentialism. All that introspective thinking got me thinking about the great beyond. That turned my sights from inwards to outwards, and I started becoming interested in the makeup of the universe, and I started reading about astronomy, planets, and galaxies.
Titan is the one place in our solar system whose geographical and atmospheric diversity and complexity are rivaled only by the Earth's. It's very Earth-like, but it's also very different, which means we have a lot to learn as well as a prayer of understanding what we find.
Titan has no liquid water on its surface, and any liquid water beneath its surface is inaccessible to us, as far as we know. It has hydrocarbon lakes, but we don't know of any organisms that could live in those, not at the temperatures that we find on Titan. Any reference to possible life in lakes on the surface of Titan is pure speculation.