We know they're there. In the Stars arc, Seiya कहा that any planet, regardless of size, that had life, also had a Senshi. I interpret this to mean anything big enough to possibly hold a kingdom, so that excludes microscopic asteroids but includes larger ones. The ones large enough to have names are probably large enough for kingdoms, at least that's what I'm going on. This लेख will सूची all of the named asteroids/minor planets and dwarf planets and what I think Senshi from each would be like.
Edit: OK, there could probably be 100 और Senshi for every named asteroid. I'm just going to stop...
Chibiusa was asleep in bed, having nightmares of the future. She was tossing and turning and whimpering. She couldn't relax.
When morning came, Chibiusa woke up to discover she'd wet Usagi's bed. She was sure Usagi would be furious. Before she could even think to do anything though, Usagi walked in the door and saw the wet spot on the bed. Chibiusa started crying and hid her face, certain Usagi would strike her. However, Usagi wasn't mad at all. She simply said, "It's okay, Chibiusa. I'll wash the sheets. Let's just get आप cleaned up, huh?"