Berthing systems for visiting spacecraft and associated methods. In one embodiment, a non-sealing berthing system includes a tunnel having an interface surface that mates with a docking system of a target spacecraft. The berthing system further includes sliding hooks disposed circumferentially on the interface surface of the tunnel, preload members disposed circumferentially at the interface surface of the tunnel and configured to extend and retract from the interface surface in an axial direction, guide petals spaced around an inner peripheral surface of the tunnel, and soft capture petals spaced around the inner peripheral surface of the tunnel. The soft capture petals include capture latches configured to engage mechanical latch strikers on the docking system of the target spacecraft.