Go to this site and have a look if your planet is allready connected (the second pic in the OP is the more uptodate): ** UPDATED ** Guild Portal Seekers / Hunts / Contracts/ Gateways / Recruiment
If yes, just search the portal (it’s shown as a lilac dot on your compass). If you are there you can save the location in the location tab. on this way you can use warps (100 coins each) to jump from your beacon to it or back if the way is to far for running. 100 coins sounds much at the beginning, but you get more through higer feat’s rewards and also trading is well worth it (some few fibrinous leafs are more in value then 100 coins for example 
)
I did it the same way until I moved in total to a tier 3 world