Try using flux in a medium quantity right under the desired component covering the entire area, the proper temperature which is around 315 to 340 Celsius for most lead-based solder, around 340 to 370 Celsius for lead free solder. Hold the iron on the spot for a bit longer than you think you need to make sure it completely melts. Make sure that the PCB is on a flat surface and anchored in place. As for having more precise component placement, use an object that can handle heat that will not obstruct the point you need to solder to keep it in place as the flux settles.
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