Generally I'm talking about ships that are in use and landed on a planet. You can walk onto the same square as them (if you get the lockpick roll), but you can't go inside them and steal them blind. :P
I think you should be able to go inside them, although that would generally count as piracy, and have the usual options when inside someone else's ship.

Larger ships would generally have some security force and / or traps left behind for 'visitors'.