Is it ideal to solder joins by placing the solder first on the component, and then having the soldering iron on top of it?
Yes, that is called tinning. But tinning won't make the best connection without adding some solder on top as well.

By breadboard, I assume you mean some type of protoboard, probably smaller than 0.1" spacing? Then your soldering iron tip might be too big, but even 0.05" spacing boards are easy to do with most standard tips. You might just need practice. Heck, people hand solder 1mm pitch with no problem. Also, use flux. It draws the solder towards it. You can also add the solder to the iron.