You can avoid the side quests on the planets if you wish. But I really think you should at least do the sidequests at the Citadel. They're fairly interesting.
+ Patrick Weekes, who sometimes hang out over at RPGWatch, has written at least one or two of them. (supervised by his wife....)
As to your complaint about the 'hey, we need to save the universe and we need to do it NOW and ASAP' and then you can just dabble around the galaxy doing whatever you want believe me when I say all Bioware's games have had that -ehm- quality? or that design.
In BG2 you had to rescue Imoen, and save your love, but no, no time limit there. Take as long as you long to do some other stuff - and when you feel like it you can resue Imoen. Or investigate the reason behind some strange disturbances in the mines of Nashkell (Baldur's Gate 1)
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