If tractor beams are considered too science fictiony, or harpoons too fiddly also, then perhaps this as an alternative idea?
A surface mining and refinery module, which you can shoot at an asteroid, which then attaches, and self mines for you until it either depletes the last remaining resource in the asteroid, or until it is full. Once ready you can recall it and scoop it up much like a cargo cannister and its contents then added to your cargo with any partial %'ages added to your ships refinery. Have it so you only carry 1 of these modules, perhaps then also allow you to manually mine a 2nd asteroid, or even go just find your next asteroid, and return to your module on the other asteroid when you get a warning indication that is is ready for return.
This would enable miners to pretty much double their efforts for mining, would mean they can deal with pirates while mining module is busy, meaning they also get money from the fighting without losing time in resource extraction too. So all in all bringing mining closer to being what they would like it to be as a profession.