Well, some science fiction is referred to as Space Opera for a reason.
But I never felt that BSG crossed the line into Soap Opera. Soaps are a very specific drama format with a very specific set of conventions. BSG had a tendency to downplay pew-pew laser battles, but never went down the soap opera route.
The BSG miniseries, had a ton of very riveting drama between all its characters, but relatively speaking, not so much straight action. I thought that was one of the things that made it work so well.
ST:TNG was also heavy on the drama and light on the pew-pew action, especially in its best 3rd, 4th, 5th season run where the series peaked.