I can't fully explain every body type, but I'll give a brief explanation of what the limiting factors are to how you'll actually use the bodies.
Firstly gas giants and superjovians can't be colonised, however they are locations you can send fleets to and fuel harvesters sent to gas giants with sorium will refill their fuel tanks.
Terrestrial planets and moons are the best places for colonisation, sometimes they'll have great mineral availability and a good environment, rarely they'll have a suitable atmosphere for life.
Most other bodies, ie dwarf planets, minor moons, chunks, asteroids, comets and even smaller terrestrials are colonizable, but if their gravity is too low they're only inhabitable with expensive underground infrastructure.
Mineral availability is generally increased by planet diameter, large terrestrials having the best chance of being excellent, sometimes having gigantic reserves of all minerals, albeit most being of low accessibility. Also comets usually have a bonus compared to asteroids and are great for mining.