No, there's no correlation between the number of NPCs and any presence of artifacts

Default maps assign artifacts to 15% of the planets (users can change this in custom made maps). Likewise, NPC defenders around planets are randomly picked from some existing templates

The AI doesn't explore everything right away, but they do get around to it eventually. You'll know when they find artifacts, as the planet will have a tringle symbol underneath and you'll get an event message. Captured homeworlds are never worth exploring because there's never anything on them, but even non-artifact planets can have other bonuses that you won't know about if you don't explore.