If the specifics of the below captured U-505 are realistic, then capturing a WWII era submarine need not be a bloody affair.
https://en.m.wikipedia.org/wiki/German_submarine_U-505
In this case, I would argue that ship capture should be based primarily on crew morale rather than (infantry) combat capability. However an outnumbered and outgunned crew should arguably surrender (or scuttle).
Edit: Not to derail this topic too much as Aurora is not exactly a WWII simulacrum.
By the 20th century, boarding any warship was something that almost never would happen until after the ship had surrendered. Or been abandoned, in that somewhat unusual case.
Realistically it's hard to imagine that getting any less true in space, but Aurora is hardly bound by 'realistically'.
Boarding a modern warship by force generally requires poking enough holes in it that your boarding party requires scuba gear. Boarding a spaceship the same way requires space suits but the ship itself should remain easily accessible.
I have also heard reports of naval vessels turning pirates into paste... Naval weapons are not toys.
The US Navy has been known to respond with 155mm when their boats get harassed, as the Somalis could tell you, and the Russians tend to get...unpleasant. Any pirate capable of threatening either of those would require the backing of a major government, and actually trying could easily start a war.
